zaubentrucker/muele-marlin
1
0
Fork 0
Code Issues Pull requests Actions Packages Projects Releases Wiki Activity

Refactor and optimize Stepper/Planner

Browse source 
Better encapsulation and considerably reduce stepper jitter
This commit is contained in:
etagle 2018-05-09 02:17:53 -03:00 committed by Scott Lahteine
parent 0566badcef
commit a11eb50a3e
16 changed files with 975 additions and 738 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

2
Marlin/src/Marlin.cpp
View file

@ -269,7 +269,7 @@ bool pin_is_protected(const pin_t pin) {
} }
void quickstop_stepper() { void quickstop_stepper() {
stepper.quick_stop(); planner.quick_stop();
planner.synchronize(); planner.synchronize();
set_current_from_steppers_for_axis(ALL_AXES); set_current_from_steppers_for_axis(ALL_AXES);
SYNC_PLAN_POSITION_KINEMATIC(); SYNC_PLAN_POSITION_KINEMATIC();

9
Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
View file

@ -262,7 +262,8 @@
z_position = end[Z_AXIS]; z_position = end[Z_AXIS];
} }
planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder); if (!planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder))
break;
} //else printf("FIRST MOVE PRUNED "); } //else printf("FIRST MOVE PRUNED ");
} }
@ -319,7 +320,8 @@
e_position = end[E_AXIS]; e_position = end[E_AXIS];
z_position = end[Z_AXIS]; z_position = end[Z_AXIS];
} }
planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, feed_rate, extruder); if (!planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, feed_rate, extruder))
break;
current_yi += dyi; current_yi += dyi;
yi_cnt--; yi_cnt--;
} }
@ -342,7 +344,8 @@
z_position = end[Z_AXIS]; z_position = end[Z_AXIS];
} }
planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, feed_rate, extruder); if (!planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, feed_rate, extruder))
break;
current_xi += dxi; current_xi += dxi;
xi_cnt--; xi_cnt--;
} }

2
Marlin/src/gcode/config/M540.cpp
View file

@ -33,7 +33,7 @@
void GcodeSuite::M540() { void GcodeSuite::M540() {
if (parser.seen('S')) if (parser.seen('S'))
stepper.abort_on_endstop_hit = parser.value_bool(); planner.abort_on_endstop_hit = parser.value_bool();
} }

2
Marlin/src/gcode/control/M17_M18_M84.cpp
View file

@ -47,7 +47,7 @@ void GcodeSuite::M18_M84() {
else { else {
bool all_axis = !(parser.seen('X') || parser.seen('Y') || parser.seen('Z') || parser.seen('E')); bool all_axis = !(parser.seen('X') || parser.seen('Y') || parser.seen('Z') || parser.seen('E'));
if (all_axis) { if (all_axis) {
stepper.finish_and_disable(); planner.finish_and_disable();
} }
else { else {
planner.synchronize(); planner.synchronize();

2
Marlin/src/gcode/control/M80_M81.cpp
View file

@ -95,7 +95,7 @@
*/ */
void GcodeSuite::M81() { void GcodeSuite::M81() {
thermalManager.disable_all_heaters(); thermalManager.disable_all_heaters();
stepper.finish_and_disable(); planner.finish_and_disable();
#if FAN_COUNT > 0 #if FAN_COUNT > 0
for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0; for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;

9
Marlin/src/gcode/motion/G2_G3.cpp
View file

@ -197,14 +197,17 @@ void plan_arc(
// i.e., Complete the angular vector in the given time. // i.e., Complete the angular vector in the given time.
inverse_kinematics(raw); inverse_kinematics(raw);
ADJUST_DELTA(raw); ADJUST_DELTA(raw);
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder); if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder))
break;
oldA = delta[A_AXIS]; oldB = delta[B_AXIS]; oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
#elif HAS_UBL_AND_CURVES #elif HAS_UBL_AND_CURVES
float pos[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] }; float pos[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
planner.apply_leveling(pos); planner.apply_leveling(pos);
planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], raw[E_AXIS], fr_mm_s, active_extruder); if (!planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], raw[E_AXIS], fr_mm_s, active_extruder))
break;
#else #else
planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder); if (!planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder))
break;
#endif #endif
} }

6
Marlin/src/lcd/ultralcd.cpp
View file

@ -2421,12 +2421,10 @@ void lcd_quick_feedback(const bool clear_buttons) {
void _lcd_do_nothing() {} void _lcd_do_nothing() {}
void _lcd_hard_stop() { void _lcd_hard_stop() {
stepper.quick_stop();
const screenFunc_t old_screen = currentScreen; const screenFunc_t old_screen = currentScreen;
currentScreen = _lcd_do_nothing; currentScreen = _lcd_do_nothing;
while (planner.movesplanned()) idle(); planner.quick_stop();
currentScreen = old_screen; currentScreen = old_screen;
stepper.cleaning_buffer_counter = 0;
set_current_from_steppers_for_axis(ALL_AXES); set_current_from_steppers_for_axis(ALL_AXES);
sync_plan_position(); sync_plan_position();
} }
@ -3856,7 +3854,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
// M540 S - Abort on endstop hit when SD printing // M540 S - Abort on endstop hit when SD printing
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &stepper.abort_on_endstop_hit); MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &planner.abort_on_endstop_hit);
#endif #endif
END_MENU(); END_MENU();

12
Marlin/src/module/endstops.cpp
View file

@ -208,7 +208,7 @@ void Endstops::report_state() {
#endif #endif
#define _ENDSTOP_HIT_ECHO(A,C) do{ \ #define _ENDSTOP_HIT_ECHO(A,C) do{ \
SERIAL_ECHOPAIR(" " STRINGIFY(A) ":", stepper.triggered_position_mm(_AXIS(A))); \ SERIAL_ECHOPAIR(" " STRINGIFY(A) ":", planner.triggered_position_mm(_AXIS(A))); \
_SET_STOP_CHAR(A,C); }while(0) _SET_STOP_CHAR(A,C); }while(0)
#define _ENDSTOP_HIT_TEST(A,C) \ #define _ENDSTOP_HIT_TEST(A,C) \
@ -238,7 +238,7 @@ void Endstops::report_state() {
hit_on_purpose(); hit_on_purpose();
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && ENABLED(SDSUPPORT) #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && ENABLED(SDSUPPORT)
if (stepper.abort_on_endstop_hit) { if (planner.abort_on_endstop_hit) {
card.sdprinting = false; card.sdprinting = false;
card.closefile(); card.closefile();
quickstop_stepper(); quickstop_stepper();
@ -349,7 +349,7 @@ void Endstops::update() {
UPDATE_ENDSTOP_BIT(AXIS, MINMAX); \ UPDATE_ENDSTOP_BIT(AXIS, MINMAX); \
if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX))) { \ if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX))) { \
_ENDSTOP_HIT(AXIS, MINMAX); \ _ENDSTOP_HIT(AXIS, MINMAX); \
stepper.endstop_triggered(_AXIS(AXIS)); \ planner.endstop_triggered(_AXIS(AXIS)); \
} \ } \
}while(0) }while(0)
@ -358,9 +358,9 @@ void Endstops::update() {
if (G38_move) { if (G38_move) {
UPDATE_ENDSTOP_BIT(Z, MIN_PROBE); UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
if (TEST_ENDSTOP(_ENDSTOP(Z, MIN_PROBE))) { if (TEST_ENDSTOP(_ENDSTOP(Z, MIN_PROBE))) {
if (stepper.current_block->steps[_AXIS(X)] > 0) { _ENDSTOP_HIT(X, MIN); stepper.endstop_triggered(_AXIS(X)); } if (stepper.current_block->steps[_AXIS(X)] > 0) { _ENDSTOP_HIT(X, MIN); planner.endstop_triggered(_AXIS(X)); }
else if (stepper.current_block->steps[_AXIS(Y)] > 0) { _ENDSTOP_HIT(Y, MIN); stepper.endstop_triggered(_AXIS(Y)); } else if (stepper.current_block->steps[_AXIS(Y)] > 0) { _ENDSTOP_HIT(Y, MIN); planner.endstop_triggered(_AXIS(Y)); }
else if (stepper.current_block->steps[_AXIS(Z)] > 0) { _ENDSTOP_HIT(Z, MIN); stepper.endstop_triggered(_AXIS(Z)); } else if (stepper.current_block->steps[_AXIS(Z)] > 0) { _ENDSTOP_HIT(Z, MIN); planner.endstop_triggered(_AXIS(Z)); }
G38_endstop_hit = true; G38_endstop_hit = true;
} }
} }

21
Marlin/src/module/motion.cpp
View file

@ -644,7 +644,8 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
#if ENABLED(SCARA_FEEDRATE_SCALING) #if ENABLED(SCARA_FEEDRATE_SCALING)
// For SCARA scale the feed rate from mm/s to degrees/s // For SCARA scale the feed rate from mm/s to degrees/s
// i.e., Complete the angular vector in the given time. // i.e., Complete the angular vector in the given time.
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder); if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder))
break;
/* /*
SERIAL_ECHO(segments); SERIAL_ECHO(segments);
SERIAL_ECHOPAIR(": X=", raw[X_AXIS]); SERIAL_ECHOPAIR(" Y=", raw[Y_AXIS]); SERIAL_ECHOPAIR(": X=", raw[X_AXIS]); SERIAL_ECHOPAIR(" Y=", raw[Y_AXIS]);
@ -654,7 +655,8 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
//*/ //*/
oldA = delta[A_AXIS]; oldB = delta[B_AXIS]; oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
#else #else
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder, cartesian_segment_mm); if (!planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder, cartesian_segment_mm))
break;
#endif #endif
} }
@ -746,7 +748,8 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
idle(); idle();
} }
LOOP_XYZE(i) raw[i] += segment_distance[i]; LOOP_XYZE(i) raw[i] += segment_distance[i];
planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder, cartesian_segment_mm); if (!planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder, cartesian_segment_mm))
break;
} }
// Since segment_distance is only approximate, // Since segment_distance is only approximate,
@ -848,14 +851,14 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
} }
// unpark extruder: 1) raise, 2) move into starting XY position, 3) lower // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
for (uint8_t i = 0; i < 3; i++) for (uint8_t i = 0; i < 3; i++)
planner.buffer_line( if (!planner.buffer_line(
i == 0 ? raised_parked_position[X_AXIS] : current_position[X_AXIS], i == 0 ? raised_parked_position[X_AXIS] : current_position[X_AXIS],
i == 0 ? raised_parked_position[Y_AXIS] : current_position[Y_AXIS], i == 0 ? raised_parked_position[Y_AXIS] : current_position[Y_AXIS],
i == 2 ? current_position[Z_AXIS] : raised_parked_position[Z_AXIS], i == 2 ? current_position[Z_AXIS] : raised_parked_position[Z_AXIS],
current_position[E_AXIS], current_position[E_AXIS],
i == 1 ? PLANNER_XY_FEEDRATE() : planner.max_feedrate_mm_s[Z_AXIS], i == 1 ? PLANNER_XY_FEEDRATE() : planner.max_feedrate_mm_s[Z_AXIS],
active_extruder active_extruder)
); ) break;
delayed_move_time = 0; delayed_move_time = 0;
active_extruder_parked = false; active_extruder_parked = false;
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
@ -872,11 +875,11 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
#endif #endif
// move duplicate extruder into correct duplication position. // move duplicate extruder into correct duplication position.
planner.set_position_mm(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); planner.set_position_mm(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
planner.buffer_line( if (!planner.buffer_line(
current_position[X_AXIS] + duplicate_extruder_x_offset, current_position[X_AXIS] + duplicate_extruder_x_offset,
current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
planner.max_feedrate_mm_s[X_AXIS], 1 planner.max_feedrate_mm_s[X_AXIS], 1)
); ) break;
planner.synchronize(); planner.synchronize();
SYNC_PLAN_POSITION_KINEMATIC(); SYNC_PLAN_POSITION_KINEMATIC();
extruder_duplication_enabled = true; extruder_duplication_enabled = true;

544
Marlin/src/module/planner.cpp
View file

@ -101,12 +101,17 @@ Planner planner;
*/ */
block_t Planner::block_buffer[BLOCK_BUFFER_SIZE]; block_t Planner::block_buffer[BLOCK_BUFFER_SIZE];
volatile uint8_t Planner::block_buffer_head, // Index of the next block to be pushed volatile uint8_t Planner::block_buffer_head, // Index of the next block to be pushed
Planner::block_buffer_tail; Planner::block_buffer_tail; // Index of the busy block, if any
uint16_t Planner::cleaning_buffer_counter; // A counter to disable queuing of blocks
float Planner::max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second float Planner::max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second
Planner::axis_steps_per_mm[XYZE_N], Planner::axis_steps_per_mm[XYZE_N],
Planner::steps_to_mm[XYZE_N]; Planner::steps_to_mm[XYZE_N];
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
bool Planner::abort_on_endstop_hit = false;
#endif
#if ENABLED(DISTINCT_E_FACTORS) #if ENABLED(DISTINCT_E_FACTORS)
uint8_t Planner::last_extruder = 0; // Respond to extruder change uint8_t Planner::last_extruder = 0; // Respond to extruder change
#endif #endif
@ -175,7 +180,7 @@ int32_t Planner::position[NUM_AXIS] = { 0 };
uint32_t Planner::cutoff_long; uint32_t Planner::cutoff_long;
float Planner::previous_speed[NUM_AXIS], float Planner::previous_speed[NUM_AXIS],
Planner::previous_nominal_speed; Planner::previous_nominal_speed_sqr;
#if ENABLED(DISABLE_INACTIVE_EXTRUDER) #if ENABLED(DISABLE_INACTIVE_EXTRUDER)
uint8_t Planner::g_uc_extruder_last_move[EXTRUDERS] = { 0 }; uint8_t Planner::g_uc_extruder_last_move[EXTRUDERS] = { 0 };
@ -212,7 +217,7 @@ void Planner::init() {
ZERO(position_float); ZERO(position_float);
#endif #endif
ZERO(previous_speed); ZERO(previous_speed);
previous_nominal_speed = 0.0; previous_nominal_speed_sqr = 0.0;
#if ABL_PLANAR #if ABL_PLANAR
bed_level_matrix.set_to_identity(); bed_level_matrix.set_to_identity();
#endif #endif
@ -727,12 +732,9 @@ void Planner::init() {
} }
#else #else
// All the other 32 CPUs can easily perform the inverse using hardware division, // All the other 32 CPUs can easily perform the inverse using hardware division,
// so we don´t need to reduce precision or to use assembly language at all. // so we don't need to reduce precision or to use assembly language at all.
// This routine, for all the other archs, returns 0x100000000 / d ~= 0xFFFFFFFF / d // This routine, for all the other archs, returns 0x100000000 / d ~= 0xFFFFFFFF / d
static FORCE_INLINE uint32_t get_period_inverse(uint32_t d) { static FORCE_INLINE uint32_t get_period_inverse(const uint32_t d) { return 0xFFFFFFFF / d; }
return 0xFFFFFFFF / d;
}
#endif #endif
#endif #endif
@ -743,6 +745,7 @@ void Planner::init() {
* by the provided factors. * by the provided factors.
*/ */
void Planner::calculate_trapezoid_for_block(block_t* const block, const float &entry_factor, const float &exit_factor) { 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), uint32_t initial_rate = CEIL(block->nominal_rate * entry_factor),
final_rate = CEIL(block->nominal_rate * exit_factor); // (steps per second) final_rate = CEIL(block->nominal_rate * exit_factor); // (steps per second)
@ -757,19 +760,18 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
const int32_t accel = block->acceleration_steps_per_s2; const int32_t accel = block->acceleration_steps_per_s2;
// Steps required for acceleration, deceleration to/from nominal rate // Steps required for acceleration, deceleration to/from nominal rate
int32_t accelerate_steps = CEIL(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)), uint32_t accelerate_steps = CEIL(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)),
decelerate_steps = FLOOR(estimate_acceleration_distance(block->nominal_rate, final_rate, -accel)), decelerate_steps = FLOOR(estimate_acceleration_distance(block->nominal_rate, final_rate, -accel));
// Steps between acceleration and deceleration, if any // Steps between acceleration and deceleration, if any
plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps; int32_t plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps;
// Does accelerate_steps + decelerate_steps exceed step_event_count? // Does accelerate_steps + decelerate_steps exceed step_event_count?
// Then we can't possibly reach the nominal rate, there will be no cruising. // Then we can't possibly reach the nominal rate, there will be no cruising.
// Use intersection_distance() to calculate accel / braking time in order to // Use intersection_distance() to calculate accel / braking time in order to
// reach the final_rate exactly at the end of this block. // reach the final_rate exactly at the end of this block.
if (plateau_steps < 0) { if (plateau_steps < 0) {
accelerate_steps = CEIL(intersection_distance(initial_rate, final_rate, accel, block->step_event_count)); const float accelerate_steps_float = CEIL(intersection_distance(initial_rate, final_rate, accel, block->step_event_count));
NOLESS(accelerate_steps, 0); // Check limits due to numerical round-off accelerate_steps = MIN(uint32_t(MAX(accelerate_steps_float, 0)), block->step_event_count);
accelerate_steps = min((uint32_t)accelerate_steps, block->step_event_count);//(We can cast here to unsigned, because the above line ensures that we are above zero)
plateau_steps = 0; plateau_steps = 0;
#if ENABLED(BEZIER_JERK_CONTROL) #if ENABLED(BEZIER_JERK_CONTROL)
@ -796,7 +798,10 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
#endif #endif
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section // Fill variables used by the stepper in a critical section
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
if (!TEST(block->flag, BLOCK_BIT_BUSY)) { // Don't update variables if block is busy. if (!TEST(block->flag, BLOCK_BIT_BUSY)) { // Don't update variables if block is busy.
block->accelerate_until = accelerate_steps; block->accelerate_until = accelerate_steps;
block->decelerate_after = accelerate_steps + plateau_steps; block->decelerate_after = accelerate_steps + plateau_steps;
@ -810,32 +815,35 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
#endif #endif
block->final_rate = final_rate; block->final_rate = final_rate;
} }
CRITICAL_SECTION_END; if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
} }
// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
// This method will calculate the junction jerk as the euclidean distance between the nominal
// velocities of the respective blocks.
//inline float junction_jerk(block_t *before, block_t *after) {
// return SQRT(
// POW((before->speed_x-after->speed_x), 2)+POW((before->speed_y-after->speed_y), 2));
//}
// The kernel called by recalculate() when scanning the plan from last to first entry. // The kernel called by recalculate() when scanning the plan from last to first entry.
void Planner::reverse_pass_kernel(block_t* const current, const block_t* const next) { void Planner::reverse_pass_kernel(block_t* const current, const block_t * const next) {
if (current && next) { if (current) {
// If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising. // If entry speed is already at the maximum entry speed, and there was no change of speed
// If not, block in state of acceleration or deceleration. Reset entry speed to maximum and // in the next block, there is no need to recheck. Block is cruising and there is no need to
// check for maximum allowable speed reductions to ensure maximum possible planned speed. // compute anything for this block,
const float max_entry_speed = current->max_entry_speed; // If not, block entry speed needs to be recalculated to ensure maximum possible planned speed.
if (current->entry_speed != max_entry_speed || TEST(next->flag, BLOCK_BIT_RECALCULATE)) { const float max_entry_speed_sqr = current->max_entry_speed_sqr;
// If nominal length true, max junction speed is guaranteed to be reached. Only compute
// for max allowable speed if block is decelerating and nominal length is false. // Compute maximum entry speed decelerating over the current block from its exit speed.
const float new_entry_speed = (TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH) || max_entry_speed <= next->entry_speed) // If not at the maximum entry speed, or the previous block entry speed changed
? max_entry_speed if (current->entry_speed_sqr != max_entry_speed_sqr || (next && TEST(next->flag, BLOCK_BIT_RECALCULATE))) {
: MIN(max_entry_speed, max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
if (new_entry_speed != current->entry_speed) { // If nominal length true, max junction speed is guaranteed to be reached.
current->entry_speed = new_entry_speed; // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
// the current block and next block junction speeds are guaranteed to always be at their maximum
// junction speeds in deceleration and acceleration, respectively. This is due to how the current
// 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.
const float new_entry_speed_sqr = TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH)
? max_entry_speed_sqr
: MIN(max_entry_speed_sqr, max_allowable_speed_sqr(-current->acceleration, next ? next->entry_speed_sqr : sq(MINIMUM_PLANNER_SPEED), current->millimeters));
if (current->entry_speed_sqr != new_entry_speed_sqr) {
current->entry_speed_sqr = new_entry_speed_sqr;
SBI(current->flag, BLOCK_BIT_RECALCULATE); SBI(current->flag, BLOCK_BIT_RECALCULATE);
} }
} }
@ -850,44 +858,37 @@ void Planner::reverse_pass() {
if (movesplanned() > 2) { if (movesplanned() > 2) {
const uint8_t endnr = next_block_index(block_buffer_tail); // tail is running. tail+1 shouldn't be altered because it's connected to the running block. const uint8_t endnr = next_block_index(block_buffer_tail); // tail is running. tail+1 shouldn't be altered because it's connected to the running block.
uint8_t blocknr = prev_block_index(block_buffer_head); uint8_t blocknr = prev_block_index(block_buffer_head);
block_t* current = &block_buffer[blocknr];
// Last/newest block in buffer: // Perform the reverse pass
const float max_entry_speed = current->max_entry_speed; block_t *current, *next = NULL;
if (current->entry_speed != max_entry_speed) { while (blocknr != endnr) {
// If nominal length true, max junction speed is guaranteed to be reached. Only compute // Perform the reverse pass - Only consider non sync blocks
// for max allowable speed if block is decelerating and nominal length is false.
const float new_entry_speed = TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH)
? max_entry_speed
: MIN(max_entry_speed, max_allowable_speed(-current->acceleration, MINIMUM_PLANNER_SPEED, current->millimeters));
if (current->entry_speed != new_entry_speed) {
current->entry_speed = new_entry_speed;
SBI(current->flag, BLOCK_BIT_RECALCULATE);
}
}
do {
const block_t * const next = current;
blocknr = prev_block_index(blocknr);
current = &block_buffer[blocknr]; current = &block_buffer[blocknr];
if (!TEST(current->flag, BLOCK_BIT_SYNC_POSITION)) {
reverse_pass_kernel(current, next); reverse_pass_kernel(current, next);
} while (blocknr != endnr); next = current;
}
// Advance to the next
blocknr = prev_block_index(blocknr);
}
} }
} }
// The kernel called by recalculate() when scanning the plan from first to last entry. // The kernel called by recalculate() when scanning the plan from first to last entry.
void Planner::forward_pass_kernel(const block_t* const previous, block_t* const current) { void Planner::forward_pass_kernel(const block_t * const previous, block_t* const current) {
if (previous) { if (previous) {
// If the previous block is an acceleration block, too short to complete the full speed // If the previous block is an acceleration block, too short to complete the full speed
// change, adjust the entry speed accordingly. Entry speeds have already been reset, // change, adjust the entry speed accordingly. Entry speeds have already been reset,
// maximized, and reverse-planned. If nominal length is set, max junction speed is // maximized, and reverse-planned. If nominal length is set, max junction speed is
// guaranteed to be reached. No need to recheck. // guaranteed to be reached. No need to recheck.
if (!TEST(previous->flag, BLOCK_BIT_NOMINAL_LENGTH)) { if (!TEST(previous->flag, BLOCK_BIT_NOMINAL_LENGTH)) {
if (previous->entry_speed < current->entry_speed) { if (previous->entry_speed_sqr < current->entry_speed_sqr) {
const float new_entry_speed = MIN(current->entry_speed, max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters)); // Compute the maximum allowable speed
// Check for junction speed change const float new_entry_speed_sqr = max_allowable_speed_sqr(-previous->acceleration, previous->entry_speed_sqr, previous->millimeters);
if (current->entry_speed != new_entry_speed) { // If true, current block is full-acceleration
current->entry_speed = new_entry_speed; if (current->entry_speed_sqr > new_entry_speed_sqr) {
// Always <= max_entry_speed_sqr. Backward pass sets this.
current->entry_speed_sqr = new_entry_speed_sqr;
SBI(current->flag, BLOCK_BIT_RECALCULATE); SBI(current->flag, BLOCK_BIT_RECALCULATE);
} }
} }
@ -900,15 +901,21 @@ void Planner::forward_pass_kernel(const block_t* const previous, block_t* const
* Once in reverse and once forward. This implements the forward pass. * Once in reverse and once forward. This implements the forward pass.
*/ */
void Planner::forward_pass() { void Planner::forward_pass() {
block_t* block[3] = { NULL, NULL, NULL }; const uint8_t endnr = block_buffer_head;
uint8_t blocknr = block_buffer_tail;
for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) { // Perform the forward pass
block[0] = block[1]; block_t *current, *previous = NULL;
block[1] = block[2]; while (blocknr != endnr) {
block[2] = &block_buffer[b]; // Perform the forward pass - Only consider non-sync blocks
forward_pass_kernel(block[0], block[1]); current = &block_buffer[blocknr];
if (!TEST(current->flag, BLOCK_BIT_SYNC_POSITION)) {
forward_pass_kernel(previous, current);
previous = current;
}
// Advance to the previous
blocknr = next_block_index(blocknr);
} }
forward_pass_kernel(block[1], block[2]);
} }
/** /**
@ -917,38 +924,72 @@ void Planner::forward_pass() {
* recalculate() after updating the blocks. * recalculate() after updating the blocks.
*/ */
void Planner::recalculate_trapezoids() { void Planner::recalculate_trapezoids() {
int8_t block_index = block_buffer_tail; uint8_t block_index = block_buffer_tail;
block_t *current, *next = NULL;
// As there could be a sync block in the head of the queue, and the next loop must not
// recalculate the head block (as it needs to be specially handled), scan backwards until
// we find the first non SYNC block
uint8_t head_block_index = block_buffer_head;
while (head_block_index != block_index) {
// Go back (head always point to the first free block)
uint8_t prev_index = prev_block_index(head_block_index);
// Get the pointer to the block
block_t *prev = &block_buffer[prev_index];
// If not dealing with a sync block, we are done. The last block is not a SYNC block
if (!TEST(prev->flag, BLOCK_BIT_SYNC_POSITION)) break;
// Examine the previous block. This and all following are SYNC blocks
head_block_index = prev_index;
};
// Go from the tail (currently executed block) to the first block, without including it)
block_t *current = NULL, *next = NULL;
float current_entry_speed = 0.0, next_entry_speed = 0.0;
while (block_index != head_block_index) {
while (block_index != block_buffer_head) {
current = next;
next = &block_buffer[block_index]; next = &block_buffer[block_index];
// Skip sync blocks
if (!TEST(next->flag, BLOCK_BIT_SYNC_POSITION)) {
next_entry_speed = SQRT(next->entry_speed_sqr);
if (current) { if (current) {
// Recalculate if current block entry or exit junction speed has changed. // Recalculate if current block entry or exit junction speed has changed.
if (TEST(current->flag, BLOCK_BIT_RECALCULATE) || TEST(next->flag, BLOCK_BIT_RECALCULATE)) { if (TEST(current->flag, BLOCK_BIT_RECALCULATE) || TEST(next->flag, BLOCK_BIT_RECALCULATE)) {
// NOTE: Entry and exit factors always > 0 by all previous logic operations. // NOTE: Entry and exit factors always > 0 by all previous logic operations.
const float nomr = 1.0 / current->nominal_speed; const float current_nominal_speed = SQRT(current->nominal_speed_sqr),
calculate_trapezoid_for_block(current, current->entry_speed * nomr, next->entry_speed * nomr); nomr = 1.0 / current_nominal_speed;
calculate_trapezoid_for_block(current, current_entry_speed * nomr, next_entry_speed * nomr);
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
if (current->use_advance_lead) { if (current->use_advance_lead) {
const float comp = current->e_D_ratio * extruder_advance_K * axis_steps_per_mm[E_AXIS]; const float comp = current->e_D_ratio * extruder_advance_K * axis_steps_per_mm[E_AXIS];
current->max_adv_steps = current->nominal_speed * comp; current->max_adv_steps = current_nominal_speed * comp;
current->final_adv_steps = next->entry_speed * comp; current->final_adv_steps = next_entry_speed * comp;
} }
#endif #endif
CBI(current->flag, BLOCK_BIT_RECALCULATE); // Reset current only to ensure next trapezoid is computed CBI(current->flag, BLOCK_BIT_RECALCULATE); // Reset current only to ensure next trapezoid is computed
} }
} }
current = next;
current_entry_speed = next_entry_speed;
}
block_index = next_block_index(block_index); block_index = next_block_index(block_index);
} }
// Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated. // Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
if (next) { if (next) {
const float nomr = 1.0 / next->nominal_speed; const float next_nominal_speed = SQRT(next->nominal_speed_sqr),
calculate_trapezoid_for_block(next, next->entry_speed * nomr, (MINIMUM_PLANNER_SPEED) * nomr); nomr = 1.0 / next_nominal_speed;
calculate_trapezoid_for_block(next, next_entry_speed * nomr, (MINIMUM_PLANNER_SPEED) * nomr);
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
if (next->use_advance_lead) { if (next->use_advance_lead) {
const float comp = next->e_D_ratio * extruder_advance_K * axis_steps_per_mm[E_AXIS]; const float comp = next->e_D_ratio * extruder_advance_K * axis_steps_per_mm[E_AXIS];
next->max_adv_steps = next->nominal_speed * comp; next->max_adv_steps = next_nominal_speed * comp;
next->final_adv_steps = (MINIMUM_PLANNER_SPEED) * comp; next->final_adv_steps = (MINIMUM_PLANNER_SPEED) * comp;
} }
#endif #endif
@ -998,7 +1039,7 @@ void Planner::recalculate() {
for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) { for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
block_t* block = &block_buffer[b]; block_t* block = &block_buffer[b];
if (block->steps[X_AXIS] || block->steps[Y_AXIS] || block->steps[Z_AXIS]) { 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; // mm/sec; const float se = (float)block->steps[E_AXIS] / block->step_event_count * SQRT(block->nominal_speed_sqr); // mm/sec;
NOLESS(high, se); NOLESS(high, se);
} }
} }
@ -1299,6 +1340,59 @@ void Planner::check_axes_activity() {
#endif // PLANNER_LEVELING #endif // PLANNER_LEVELING
void Planner::quick_stop() {
// Remove all the queued blocks. Note that this function is NOT
// called from the Stepper ISR, so we must consider tail as readonly!
// that is why we set head to tail!
block_buffer_head = block_buffer_tail;
#if ENABLED(ULTRA_LCD)
// Clear the accumulated runtime
clear_block_buffer_runtime();
#endif
// Make sure to drop any attempt of queuing moves for at least 1 second
cleaning_buffer_counter = 1000;
// And stop the stepper ISR
stepper.quick_stop();
}
void Planner::endstop_triggered(const AxisEnum axis) {
/*NB: This will be called via endstops.update()
and endstops.update() can be called from the temperature
ISR. So Stepper interrupts are enabled */
// Disable stepper ISR
bool stepper_isr_enabled = STEPPER_ISR_ENABLED();
DISABLE_STEPPER_DRIVER_INTERRUPT();
// Record stepper position
stepper.endstop_triggered(axis);
// Discard the active block that led to the trigger
discard_current_block();
// Discard the CONTINUED block, if any. Note the planner can only queue 1 continued
// block after a previous non continued block, as the condition to queue them
// is that there are no queued blocks at the time a new block is queued.
const bool discard = has_blocks_queued() && TEST(block_buffer[block_buffer_tail].flag, BLOCK_BIT_CONTINUED);
if (discard) discard_current_block();
// Reenable stepper ISR if it was enabled
if (stepper_isr_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}
float Planner::triggered_position_mm(const AxisEnum axis) {
return stepper.triggered_position(axis) * steps_to_mm[axis];
}
void Planner::finish_and_disable() {
while (has_blocks_queued() || cleaning_buffer_counter) idle();
disable_all_steppers();
}
/** /**
* Get an axis position according to stepper position(s) * Get an axis position according to stepper position(s)
* For CORE machines apply translation from ABC to XYZ. * For CORE machines apply translation from ABC to XYZ.
@ -1311,7 +1405,7 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
// Protect the access to the position. // Protect the access to the position.
const bool was_enabled = STEPPER_ISR_ENABLED(); const bool was_enabled = STEPPER_ISR_ENABLED();
DISABLE_STEPPER_DRIVER_INTERRUPT(); if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
// ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1 // ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
// ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2 // ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
@ -1333,18 +1427,69 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
/** /**
* Block until all buffered steps are executed / cleaned * Block until all buffered steps are executed / cleaned
*/ */
void Planner::synchronize() { while (has_blocks_queued() || stepper.cleaning_buffer_counter) idle(); } void Planner::synchronize() { while (has_blocks_queued() || cleaning_buffer_counter) idle(); }
/** /**
* Planner::_buffer_steps * Planner::_buffer_steps
* *
* Add a new linear movement to the buffer (in terms of steps). * Add a new linear movement to the planner queue (in terms of steps).
* *
* target - target position in steps units * target - target position in steps units
* fr_mm_s - (target) speed of the move * fr_mm_s - (target) speed of the move
* extruder - target extruder * extruder - target extruder
* millimeters - the length of the movement, if known
*
* Returns true if movement was properly queued, false otherwise
*/ */
void Planner::_buffer_steps(const int32_t (&target)[XYZE] bool Planner::_buffer_steps(const int32_t (&target)[XYZE]
#if HAS_POSITION_FLOAT
, const float (&target_float)[XYZE]
#endif
, float fr_mm_s, const uint8_t extruder, const float &millimeters
) {
// If we are cleaning, do not accept queuing of movements
if (cleaning_buffer_counter) return false;
// Wait for the next available block
uint8_t next_buffer_head;
block_t * const block = get_next_free_block(next_buffer_head);
// Fill the block with the specified movement
if (!_populate_block(block, false, target
#if HAS_POSITION_FLOAT
, target_float
#endif
, fr_mm_s, extruder, millimeters
)) {
// Movement was not queued, probably because it was too short.
// Simply accept that as movement queued and done
return true;
}
// Move buffer head
block_buffer_head = next_buffer_head;
// Recalculate and optimize trapezoidal speed profiles
recalculate();
// Movement successfully queued!
return true;
}
/**
* Planner::_populate_block
*
* Fills a new linear movement in the block (in terms of steps).
*
* target - target position in steps units
* fr_mm_s - (target) speed of the move
* extruder - target extruder
*
* Returns true is movement is acceptable, false otherwise
*/
bool Planner::_populate_block(block_t * const block, bool split_move,
const int32_t (&target)[XYZE]
#if HAS_POSITION_FLOAT #if HAS_POSITION_FLOAT
, const float (&target_float)[XYZE] , const float (&target_float)[XYZE]
#endif #endif
@ -1358,7 +1503,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
int32_t de = target[E_AXIS] - position[E_AXIS]; int32_t de = target[E_AXIS] - position[E_AXIS];
/* <-- add a slash to enable /* <-- add a slash to enable
SERIAL_ECHOPAIR(" _buffer_steps FR:", fr_mm_s); SERIAL_ECHOPAIR(" _populate_block FR:", fr_mm_s);
SERIAL_ECHOPAIR(" A:", target[A_AXIS]); SERIAL_ECHOPAIR(" A:", target[A_AXIS]);
SERIAL_ECHOPAIR(" (", da); SERIAL_ECHOPAIR(" (", da);
SERIAL_ECHOPAIR(" steps) B:", target[B_AXIS]); SERIAL_ECHOPAIR(" steps) B:", target[B_AXIS]);
@ -1427,10 +1572,6 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
const float esteps_float = de * e_factor[extruder]; const float esteps_float = de * e_factor[extruder];
const int32_t esteps = ABS(esteps_float) + 0.5; const int32_t esteps = ABS(esteps_float) + 0.5;
// Wait for the next available block
uint8_t next_buffer_head;
block_t * const block = get_next_free_block(next_buffer_head);
// Clear all flags, including the "busy" bit // Clear all flags, including the "busy" bit
block->flag = 0x00; block->flag = 0x00;
@ -1466,7 +1607,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
block->step_event_count = MAX4(block->steps[A_AXIS], block->steps[B_AXIS], block->steps[C_AXIS], esteps); block->step_event_count = MAX4(block->steps[A_AXIS], block->steps[B_AXIS], block->steps[C_AXIS], esteps);
// Bail if this is a zero-length block // Bail if this is a zero-length block
if (block->step_event_count < MIN_STEPS_PER_SEGMENT) return; if (block->step_event_count < MIN_STEPS_PER_SEGMENT) return false;
// For a mixing extruder, get a magnified step_event_count for each // For a mixing extruder, get a magnified step_event_count for each
#if ENABLED(MIXING_EXTRUDER) #if ENABLED(MIXING_EXTRUDER)
@ -1706,12 +1847,16 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
#endif #endif
#if ENABLED(ULTRA_LCD) #if ENABLED(ULTRA_LCD)
CRITICAL_SECTION_START // Protect the access to the position.
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
block_buffer_runtime_us += segment_time_us; block_buffer_runtime_us += segment_time_us;
CRITICAL_SECTION_END
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#endif #endif
block->nominal_speed = block->millimeters * inverse_secs; // (mm/sec) Always > 0 block->nominal_speed_sqr = sq(block->millimeters * inverse_secs); // (mm/sec)^2 Always > 0
block->nominal_rate = CEIL(block->step_event_count * inverse_secs); // (step/sec) Always > 0 block->nominal_rate = CEIL(block->step_event_count * inverse_secs); // (step/sec) Always > 0
#if ENABLED(FILAMENT_WIDTH_SENSOR) #if ENABLED(FILAMENT_WIDTH_SENSOR)
@ -1799,8 +1944,8 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
// Correct the speed // Correct the speed
if (speed_factor < 1.0) { if (speed_factor < 1.0) {
LOOP_XYZE(i) current_speed[i] *= speed_factor; LOOP_XYZE(i) current_speed[i] *= speed_factor;
block->nominal_speed *= speed_factor;
block->nominal_rate *= speed_factor; block->nominal_rate *= speed_factor;
block->nominal_speed_sqr = block->nominal_speed_sqr * sq(speed_factor);
} }
// Compute and limit the acceleration rate for the trapezoid generator. // Compute and limit the acceleration rate for the trapezoid generator.
@ -1895,13 +2040,13 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
block->acceleration_steps_per_s2 = accel; block->acceleration_steps_per_s2 = accel;
block->acceleration = accel / steps_per_mm; block->acceleration = accel / steps_per_mm;
#if DISABLED(BEZIER_JERK_CONTROL) #if DISABLED(BEZIER_JERK_CONTROL)
block->acceleration_rate = (long)(accel * (4096.0 * 4096.0 / (HAL_STEPPER_TIMER_RATE))); block->acceleration_rate = (uint32_t)(accel * (4096.0 * 4096.0 / (HAL_STEPPER_TIMER_RATE)));
#endif #endif
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
if (block->use_advance_lead) { if (block->use_advance_lead) {
block->advance_speed = (HAL_STEPPER_TIMER_RATE) / (extruder_advance_K * block->e_D_ratio * block->acceleration * axis_steps_per_mm[E_AXIS_N]); block->advance_speed = (HAL_STEPPER_TIMER_RATE) / (extruder_advance_K * block->e_D_ratio * block->acceleration * axis_steps_per_mm[E_AXIS_N]);
#if ENABLED(LA_DEBUG) #if ENABLED(LA_DEBUG)
if (extruder_advance_K * block->e_D_ratio * block->acceleration * 2 < block->nominal_speed * block->e_D_ratio) if (extruder_advance_K * block->e_D_ratio * block->acceleration * 2 < SQRT(block->nominal_speed_sqr) * block->e_D_ratio)
SERIAL_ECHOLNPGM("More than 2 steps per eISR loop executed."); SERIAL_ECHOLNPGM("More than 2 steps per eISR loop executed.");
if (block->advance_speed < 200) if (block->advance_speed < 200)
SERIAL_ECHOLNPGM("eISR running at > 10kHz."); SERIAL_ECHOLNPGM("eISR running at > 10kHz.");
@ -1909,7 +2054,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
} }
#endif #endif
float vmax_junction; // Initial limit on the segment entry velocity float vmax_junction_sqr; // Initial limit on the segment entry velocity (mm/s)^2
#if ENABLED(JUNCTION_DEVIATION) #if ENABLED(JUNCTION_DEVIATION)
@ -1935,7 +2080,17 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
* changed dynamically during operation nor can the line move geometry. This must be kept in * changed dynamically during operation nor can the line move geometry. This must be kept in
* memory in the event of a feedrate override changing the nominal speeds of blocks, which can * memory in the event of a feedrate override changing the nominal speeds of blocks, which can
* change the overall maximum entry speed conditions of all blocks. * change the overall maximum entry speed conditions of all blocks.
*/ *
* #######
* https://github.com/MarlinFirmware/Marlin/issues/10341#issuecomment-388191754
*
* hoffbaked: on May 10 2018 tuned and improved the GRBL algorithm for Marlin:
Okay! It seems to be working good. I somewhat arbitrarily cut it off at 1mm
on then on anything with less sides than an octagon. With this, and the
reverse pass actually recalculating things, a corner acceleration value
of 1000 junction deviation of .05 are pretty reasonable. If the cycles
can be spared, a better acos could be used. For all I know, it may be
already calculated in a different place. */
// Unit vector of previous path line segment // Unit vector of previous path line segment
static float previous_unit_vec[ static float previous_unit_vec[
@ -1956,7 +2111,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
}; };
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles. // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
if (moves_queued && !UNEAR_ZERO(previous_nominal_speed)) { if (moves_queued && !UNEAR_ZERO(previous_nominal_speed_sqr)) {
// Compute cosine of angle between previous and current path. (prev_unit_vec is negative) // 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. // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
float junction_cos_theta = -previous_unit_vec[X_AXIS] * unit_vec[X_AXIS] float junction_cos_theta = -previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
@ -1970,21 +2125,33 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
// NOTE: Computed without any expensive trig, sin() or acos(), by trig half angle identity of cos(theta). // NOTE: Computed without any expensive trig, sin() or acos(), by trig half angle identity of cos(theta).
if (junction_cos_theta > 0.999999) { if (junction_cos_theta > 0.999999) {
// For a 0 degree acute junction, just set minimum junction speed. // For a 0 degree acute junction, just set minimum junction speed.
vmax_junction = MINIMUM_PLANNER_SPEED; vmax_junction_sqr = sq(MINIMUM_PLANNER_SPEED);
} }
else { else {
junction_cos_theta = MAX(junction_cos_theta, -0.999999); // Check for numerical round-off to avoid divide by zero. NOLESS(junction_cos_theta, -0.999999); // Check for numerical round-off to avoid divide by zero.
const float sin_theta_d2 = SQRT(0.5 * (1.0 - junction_cos_theta)); // Trig half angle identity. Always positive. const float sin_theta_d2 = SQRT(0.5 * (1.0 - junction_cos_theta)); // Trig half angle identity. Always positive.
// TODO: Technically, the acceleration used in calculation needs to be limited by the minimum of the // TODO: Technically, the acceleration used in calculation needs to be limited by the minimum of the
// two junctions. However, this shouldn't be a significant problem except in extreme circumstances. // two junctions. However, this shouldn't be a significant problem except in extreme circumstances.
vmax_junction = SQRT((block->acceleration * JUNCTION_DEVIATION_FACTOR * sin_theta_d2) / (1.0 - sin_theta_d2)); vmax_junction_sqr = (JUNCTION_ACCELERATION_FACTOR * JUNCTION_DEVIATION_FACTOR * sin_theta_d2) / (1.0 - sin_theta_d2);
if (block->millimeters < 1.0) {
// Fast acos approximation, minus the error bar to be safe
float junction_theta = (RADIANS(-40) * sq(junction_cos_theta) - RADIANS(50)) * junction_cos_theta + RADIANS(90) - 0.18;
// If angle is greater than 135 degrees (octagon), find speed for approximate arc
if (junction_theta > RADIANS(135)) {
const float limit_sqr = block->millimeters / (RADIANS(180) - junction_theta) * JUNCTION_ACCELERATION_FACTOR;
NOMORE(vmax_junction_sqr, limit_sqr);
}
}
} }
vmax_junction = MIN3(vmax_junction, block->nominal_speed, previous_nominal_speed); // Get the lowest speed
vmax_junction_sqr = MIN3(vmax_junction_sqr, block->nominal_speed_sqr, previous_nominal_speed_sqr);
} }
else // Init entry speed to zero. Assume it starts from rest. Planner will correct this later. else // Init entry speed to zero. Assume it starts from rest. Planner will correct this later.
vmax_junction = 0.0; vmax_junction_sqr = 0.0;
COPY(previous_unit_vec, unit_vec); COPY(previous_unit_vec, unit_vec);
@ -2000,13 +2167,15 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
// Exit speed limited by a jerk to full halt of a previous last segment // Exit speed limited by a jerk to full halt of a previous last segment
static float previous_safe_speed; static float previous_safe_speed;
float safe_speed = block->nominal_speed; const float nominal_speed = SQRT(block->nominal_speed_sqr);
float safe_speed = nominal_speed;
uint8_t limited = 0; uint8_t limited = 0;
LOOP_XYZE(i) { LOOP_XYZE(i) {
const float jerk = ABS(current_speed[i]), maxj = max_jerk[i]; const float jerk = ABS(current_speed[i]), maxj = max_jerk[i];
if (jerk > maxj) { if (jerk > maxj) {
if (limited) { if (limited) {
const float mjerk = maxj * block->nominal_speed; const float mjerk = maxj * nominal_speed;
if (jerk * safe_speed > mjerk) safe_speed = mjerk / jerk; if (jerk * safe_speed > mjerk) safe_speed = mjerk / jerk;
} }
else { else {
@ -2016,19 +2185,21 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
} }
} }
if (moves_queued && !UNEAR_ZERO(previous_nominal_speed)) { float vmax_junction;
if (moves_queued && !UNEAR_ZERO(previous_nominal_speed_sqr)) {
// Estimate a maximum velocity allowed at a joint of two successive segments. // Estimate a maximum velocity allowed at a joint of two successive segments.
// If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities, // If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities,
// then the machine is not coasting anymore and the safe entry / exit velocities shall be used. // then the machine is not coasting anymore and the safe entry / exit velocities shall be used.
// The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum.
// Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
vmax_junction = MIN(block->nominal_speed, previous_nominal_speed);
// Factor to multiply the previous / current nominal velocities to get componentwise limited velocities. // Factor to multiply the previous / current nominal velocities to get componentwise limited velocities.
float v_factor = 1; float v_factor = 1;
limited = 0; limited = 0;
// The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum.
// Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
const float previous_nominal_speed = SQRT(previous_nominal_speed_sqr);
vmax_junction = MIN(nominal_speed, previous_nominal_speed);
// Now limit the jerk in all axes. // Now limit the jerk in all axes.
const float smaller_speed_factor = vmax_junction / previous_nominal_speed; const float smaller_speed_factor = vmax_junction / previous_nominal_speed;
LOOP_XYZE(axis) { LOOP_XYZE(axis) {
@ -2063,16 +2234,19 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
vmax_junction = safe_speed; vmax_junction = safe_speed;
previous_safe_speed = safe_speed; previous_safe_speed = safe_speed;
vmax_junction_sqr = sq(vmax_junction);
#endif // Classic Jerk Limiting #endif // Classic Jerk Limiting
// Max entry speed of this block equals the max exit speed of the previous block. // Max entry speed of this block equals the max exit speed of the previous block.
block->max_entry_speed = vmax_junction; block->max_entry_speed_sqr = vmax_junction_sqr;
// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED. // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
const float v_allowable = max_allowable_speed(-block->acceleration, MINIMUM_PLANNER_SPEED, block->millimeters); const float v_allowable_sqr = max_allowable_speed_sqr(-block->acceleration, sq(MINIMUM_PLANNER_SPEED), block->millimeters);
// If stepper ISR is disabled, this indicates buffer_segment wants to add a split block.
// In this case start with the max. allowed speed to avoid an interrupted first move. // If we are trying to add a split block, start with the
block->entry_speed = STEPPER_ISR_ENABLED() ? MINIMUM_PLANNER_SPEED : MIN(vmax_junction, v_allowable); // max. allowed speed to avoid an interrupted first move.
block->entry_speed_sqr = !split_move ? sq(MINIMUM_PLANNER_SPEED) : MIN(vmax_junction_sqr, v_allowable_sqr);
// Initialize planner efficiency flags // Initialize planner efficiency flags
// Set flag if block will always reach maximum junction speed regardless of entry/exit speeds. // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
@ -2082,25 +2256,22 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
// block nominal speed limits both the current and next maximum junction speeds. Hence, in both // 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 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. // the maximum junction speed and may always be ignored for any speed reduction checks.
block->flag |= block->nominal_speed <= v_allowable ? BLOCK_FLAG_RECALCULATE | BLOCK_FLAG_NOMINAL_LENGTH : BLOCK_FLAG_RECALCULATE; block->flag |= block->nominal_speed_sqr <= v_allowable_sqr ? BLOCK_FLAG_RECALCULATE | BLOCK_FLAG_NOMINAL_LENGTH : BLOCK_FLAG_RECALCULATE;
// Update previous path unit_vector and nominal speed // Update previous path unit_vector and nominal speed
COPY(previous_speed, current_speed); COPY(previous_speed, current_speed);
previous_nominal_speed = block->nominal_speed; previous_nominal_speed_sqr = block->nominal_speed_sqr;
// Move buffer head // Update the position
block_buffer_head = next_buffer_head;
// Update the position (only when a move was queued)
static_assert(COUNT(target) > 1, "Parameter to _buffer_steps must be (&target)[XYZE]!"); static_assert(COUNT(target) > 1, "Parameter to _buffer_steps must be (&target)[XYZE]!");
COPY(position, target); COPY(position, target);
#if HAS_POSITION_FLOAT #if HAS_POSITION_FLOAT
COPY(position_float, target_float); COPY(position_float, target_float);
#endif #endif
recalculate(); // Movement was accepted
return true;
} // _buffer_steps() } // _populate_block()
/** /**
* Planner::buffer_sync_block * Planner::buffer_sync_block
@ -2111,29 +2282,15 @@ void Planner::buffer_sync_block() {
uint8_t next_buffer_head; uint8_t next_buffer_head;
block_t * const block = get_next_free_block(next_buffer_head); block_t * const block = get_next_free_block(next_buffer_head);
// Clear block
memset(block, 0, sizeof(block_t));
block->flag = BLOCK_FLAG_SYNC_POSITION; block->flag = BLOCK_FLAG_SYNC_POSITION;
block->steps[A_AXIS] = position[A_AXIS]; block->position[A_AXIS] = position[A_AXIS];
block->steps[B_AXIS] = position[B_AXIS]; block->position[B_AXIS] = position[B_AXIS];
block->steps[C_AXIS] = position[C_AXIS]; block->position[C_AXIS] = position[C_AXIS];
block->steps[E_AXIS] = position[E_AXIS]; block->position[E_AXIS] = position[E_AXIS];
#if ENABLED(LIN_ADVANCE)
block->use_advance_lead = false;
#endif
block->nominal_speed =
block->entry_speed =
block->max_entry_speed =
block->millimeters =
block->acceleration = 0;
block->step_event_count =
block->nominal_rate =
block->initial_rate =
block->final_rate =
block->acceleration_steps_per_s2 =
block->segment_time_us = 0;
block_buffer_head = next_buffer_head; block_buffer_head = next_buffer_head;
stepper.wake_up(); stepper.wake_up();
@ -2151,7 +2308,11 @@ void Planner::buffer_sync_block() {
* extruder - target extruder * extruder - target extruder
* millimeters - the length of the movement, if known * millimeters - the length of the movement, if known
*/ */
void Planner::buffer_segment(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/) { bool Planner::buffer_segment(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/) {
// If we are cleaning, do not accept queuing of movements
if (cleaning_buffer_counter) return false;
// When changing extruders recalculate steps corresponding to the E position // When changing extruders recalculate steps corresponding to the E position
#if ENABLED(DISTINCT_E_FACTORS) #if ENABLED(DISTINCT_E_FACTORS)
if (last_extruder != extruder && axis_steps_per_mm[E_AXIS_N] != axis_steps_per_mm[E_AXIS + last_extruder]) { if (last_extruder != extruder && axis_steps_per_mm[E_AXIS_N] != axis_steps_per_mm[E_AXIS + last_extruder]) {
@ -2220,37 +2381,80 @@ void Planner::buffer_segment(const float &a, const float &b, const float &c, con
const float between_float[ABCE] = { _BETWEEN_F(A), _BETWEEN_F(B), _BETWEEN_F(C), _BETWEEN_F(E) }; const float between_float[ABCE] = { _BETWEEN_F(A), _BETWEEN_F(B), _BETWEEN_F(C), _BETWEEN_F(E) };
#endif #endif
DISABLE_STEPPER_DRIVER_INTERRUPT(); // The new head value is not assigned yet
uint8_t buffer_head = 0;
bool added = false;
_buffer_steps(between uint8_t next_buffer_head;
block_t *block = get_next_free_block(next_buffer_head, 2);
// Fill the block with the specified movement
if (
_populate_block(block, true, between
#if HAS_POSITION_FLOAT #if HAS_POSITION_FLOAT
, between_float , between_float
#endif #endif
, fr_mm_s, extruder, millimeters * 0.5 , fr_mm_s, extruder, millimeters * 0.5
); )
) {
// Movement accepted - Point to the next reserved block
block = &block_buffer[next_buffer_head];
const uint8_t next = block_buffer_head; // Store into the new to be stored head
buffer_head = next_buffer_head;
added = true;
_buffer_steps(target // And advance the pointer to the next unused slot
next_buffer_head = next_block_index(next_buffer_head);
}
// Fill the second part of the block with the 2nd part of the movement
if (
_populate_block(block, true, target
#if HAS_POSITION_FLOAT #if HAS_POSITION_FLOAT
, target_float , target_float
#endif #endif
, fr_mm_s, extruder, millimeters * 0.5 , fr_mm_s, extruder, millimeters * 0.5
); )
) {
// Movement accepted - If this block is a continuation
// of the previous one, mark it as such
if (added) SBI(block->flag, BLOCK_BIT_CONTINUED);
SBI(block_buffer[next].flag, BLOCK_BIT_CONTINUED); // Store into the new to be stored head
ENABLE_STEPPER_DRIVER_INTERRUPT(); buffer_head = next_buffer_head;
added = true;
} }
else
_buffer_steps(target // If any of the movements was added
if (added) {
// Move buffer head and add all the blocks that were filled
// successfully to the movement queue.
block_buffer_head = buffer_head;
// Update the position (only when a move was queued)
static_assert(COUNT(target) > 1, "Parameter to _buffer_steps must be (&target)[XYZE]!");
COPY(position, target);
#if HAS_POSITION_FLOAT
COPY(position_float, target_float);
#endif
// Recalculate and optimize trapezoidal speed profiles
recalculate();
}
}
else if (
!_buffer_steps(target
#if HAS_POSITION_FLOAT #if HAS_POSITION_FLOAT
, target_float , target_float
#endif #endif
, fr_mm_s, extruder, millimeters , fr_mm_s, extruder, millimeters
); )
) return false;
stepper.wake_up(); stepper.wake_up();
return true;
} // buffer_segment() } // buffer_segment()
/** /**
@ -2277,7 +2481,7 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
position_float[C_AXIS] = c; position_float[C_AXIS] = c;
position_float[E_AXIS] = e; position_float[E_AXIS] = e;
#endif #endif
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest. previous_nominal_speed_sqr = 0.0; // Resets planner junction speeds. Assumes start from rest.
ZERO(previous_speed); ZERO(previous_speed);
buffer_sync_block(); buffer_sync_block();
} }
@ -2297,22 +2501,6 @@ void Planner::set_position_mm_kinematic(const float (&cart)[XYZE]) {
#endif #endif
} }
/**
* Sync from the stepper positions. (e.g., after an interrupted move)
*/
void Planner::sync_from_steppers() {
LOOP_XYZE(i) {
position[i] = stepper.position((AxisEnum)i);
#if HAS_POSITION_FLOAT
position_float[i] = position[i] * steps_to_mm[i
#if ENABLED(DISTINCT_E_FACTORS)
+ (i == E_AXIS ? active_extruder : 0)
#endif
];
#endif
}
}
/** /**
* Setters for planner position (also setting stepper position). * Setters for planner position (also setting stepper position).
*/ */

214
Marlin/src/module/planner.h
View file

@ -35,6 +35,7 @@
#include "../Marlin.h" #include "../Marlin.h"
#include "motion.h" #include "motion.h"
#include "../gcode/queue.h"
#if ENABLED(DELTA) #if ENABLED(DELTA)
#include "delta.h" #include "delta.h"
@ -84,18 +85,34 @@ typedef struct {
uint8_t flag; // Block flags (See BlockFlag enum above) uint8_t flag; // Block flags (See BlockFlag enum above)
unsigned char active_extruder; // The extruder to move (if E move) // Fields used by the motion planner to manage acceleration
float nominal_speed_sqr, // The nominal speed for this block in (mm/sec)^2
entry_speed_sqr, // Entry speed at previous-current junction in (mm/sec)^2
max_entry_speed_sqr, // Maximum allowable junction entry speed in (mm/sec)^2
millimeters, // The total travel of this block in mm
acceleration; // acceleration mm/sec^2
union {
// Data used by all move blocks
struct {
// Fields used by the Bresenham algorithm for tracing the line // Fields used by the Bresenham algorithm for tracing the line
int32_t steps[NUM_AXIS]; // Step count along each axis uint32_t steps[NUM_AXIS]; // Step count along each axis
};
// Data used by all sync blocks
struct {
int32_t position[NUM_AXIS]; // New position to force when this sync block is executed
};
};
uint32_t step_event_count; // The number of step events required to complete this block uint32_t step_event_count; // The number of step events required to complete this block
uint8_t active_extruder; // The extruder to move (if E move)
#if ENABLED(MIXING_EXTRUDER) #if ENABLED(MIXING_EXTRUDER)
uint32_t mix_event_count[MIXING_STEPPERS]; // Scaled step_event_count for the mixing steppers uint32_t mix_event_count[MIXING_STEPPERS]; // Scaled step_event_count for the mixing steppers
#endif #endif
// Settings for the trapezoid generator // Settings for the trapezoid generator
int32_t accelerate_until, // The index of the step event on which to stop acceleration uint32_t accelerate_until, // The index of the step event on which to stop acceleration
decelerate_after; // The index of the step event on which to start decelerating decelerate_after; // The index of the step event on which to start decelerating
#if ENABLED(BEZIER_JERK_CONTROL) #if ENABLED(BEZIER_JERK_CONTROL)
@ -105,7 +122,7 @@ typedef struct {
uint32_t acceleration_time_inverse, // Inverse of acceleration and deceleration periods, expressed as integer. Scale depends on CPU being used uint32_t acceleration_time_inverse, // Inverse of acceleration and deceleration periods, expressed as integer. Scale depends on CPU being used
deceleration_time_inverse; deceleration_time_inverse;
#else #else
int32_t acceleration_rate; // The acceleration rate used for acceleration calculation uint32_t acceleration_rate; // The acceleration rate used for acceleration calculation
#endif #endif
uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h) uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
@ -119,13 +136,6 @@ typedef struct {
float e_D_ratio; float e_D_ratio;
#endif #endif
// Fields used by the motion planner to manage acceleration
float nominal_speed, // The nominal speed for this block in mm/sec
entry_speed, // Entry speed at previous-current junction in mm/sec
max_entry_speed, // Maximum allowable junction entry speed in mm/sec
millimeters, // The total travel of this block in mm
acceleration; // acceleration mm/sec^2
uint32_t nominal_rate, // The nominal step rate for this block in step_events/sec uint32_t nominal_rate, // The nominal step rate for this block in step_events/sec
initial_rate, // The jerk-adjusted step rate at start of block initial_rate, // The jerk-adjusted step rate at start of block
final_rate, // The minimal rate at exit final_rate, // The minimal rate at exit
@ -166,6 +176,7 @@ class Planner {
static block_t block_buffer[BLOCK_BUFFER_SIZE]; static block_t block_buffer[BLOCK_BUFFER_SIZE];
static volatile uint8_t block_buffer_head, // Index of the next block to be pushed static volatile uint8_t block_buffer_head, // Index of the next block to be pushed
block_buffer_tail; // Index of the busy block, if any block_buffer_tail; // Index of the busy block, if any
static int16_t cleaning_buffer_counter; // A counter to disable queuing of blocks
#if ENABLED(DISTINCT_E_FACTORS) #if ENABLED(DISTINCT_E_FACTORS)
static uint8_t last_extruder; // Respond to extruder change static uint8_t last_extruder; // Respond to extruder change
@ -233,6 +244,10 @@ class Planner {
#endif #endif
#endif #endif
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
static bool abort_on_endstop_hit;
#endif
private: private:
/** /**
@ -247,9 +262,9 @@ class Planner {
static float previous_speed[NUM_AXIS]; static float previous_speed[NUM_AXIS];
/** /**
* Nominal speed of previous path line segment * Nominal speed of previous path line segment (mm/s)^2
*/ */
static float previous_nominal_speed; static float previous_nominal_speed_sqr;
/** /**
* Limit where 64bit math is necessary for acceleration calculation * Limit where 64bit math is necessary for acceleration calculation
@ -308,15 +323,6 @@ class Planner {
// Manage fans, paste pressure, etc. // Manage fans, paste pressure, etc.
static void check_axes_activity(); static void check_axes_activity();
/**
* Number of moves currently in the planner
*/
FORCE_INLINE static uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }
FORCE_INLINE static void clear_block_buffer() { block_buffer_head = block_buffer_tail = 0; }
FORCE_INLINE static bool is_full() { return block_buffer_tail == next_block_index(block_buffer_head); }
// Update multipliers based on new diameter measurements // Update multipliers based on new diameter measurements
static void calculate_volumetric_multipliers(); static void calculate_volumetric_multipliers();
@ -424,16 +430,32 @@ class Planner {
#define ARG_Z const float &rz #define ARG_Z const float &rz
#endif #endif
// Number of moves currently in the planner
FORCE_INLINE static uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail); }
// Remove all blocks from the buffer
FORCE_INLINE static void clear_block_buffer() { block_buffer_head = block_buffer_tail = 0; }
// Check if movement queue is full
FORCE_INLINE static bool is_full() { return block_buffer_tail == next_block_index(block_buffer_head); }
// Get count of movement slots free
FORCE_INLINE static uint8_t moves_free() { return BLOCK_BUFFER_SIZE - 1 - movesplanned(); }
/** /**
* Planner::get_next_free_block * Planner::get_next_free_block
* *
* - Get the next head index (passed by reference) * - Get the next head indices (passed by reference)
* - Wait for a space to open up in the planner * - Wait for the number of spaces to open up in the planner
* - Return the head block * - Return the first head block
*/ */
FORCE_INLINE static block_t* get_next_free_block(uint8_t &next_buffer_head) { FORCE_INLINE static block_t* get_next_free_block(uint8_t &next_buffer_head, uint8_t count = 1) {
// Wait until there are enough slots free
while (moves_free() < count) { idle(); }
// Return the first available block
next_buffer_head = next_block_index(block_buffer_head); next_buffer_head = next_block_index(block_buffer_head);
while (block_buffer_tail == next_buffer_head) idle(); // while (is_full)
return &block_buffer[block_buffer_head]; return &block_buffer[block_buffer_head];
} }
@ -446,8 +468,30 @@ class Planner {
* fr_mm_s - (target) speed of the move * fr_mm_s - (target) speed of the move
* extruder - target extruder * extruder - target extruder
* millimeters - the length of the movement, if known * millimeters - the length of the movement, if known
*
* Returns true if movement was buffered, false otherwise
*/ */
static void _buffer_steps(const int32_t (&target)[XYZE] static bool _buffer_steps(const int32_t (&target)[XYZE]
#if HAS_POSITION_FLOAT
, const float (&target_float)[XYZE]
#endif
, float fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
);
/**
* Planner::_populate_block
*
* Fills a new linear movement in the block (in terms of steps).
*
* target - target position in steps units
* fr_mm_s - (target) speed of the move
* extruder - target extruder
* millimeters - the length of the movement, if known
*
* Returns true is movement is acceptable, false otherwise
*/
static bool _populate_block(block_t * const block, bool split_move,
const int32_t (&target)[XYZE]
#if HAS_POSITION_FLOAT #if HAS_POSITION_FLOAT
, const float (&target_float)[XYZE] , const float (&target_float)[XYZE]
#endif #endif
@ -472,7 +516,7 @@ class Planner {
* extruder - target extruder * extruder - target extruder
* millimeters - the length of the movement, if known * millimeters - the length of the movement, if known
*/ */
static void buffer_segment(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0); static bool buffer_segment(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0);
static void _set_position_mm(const float &a, const float &b, const float &c, const float &e); static void _set_position_mm(const float &a, const float &b, const float &c, const float &e);
@ -489,11 +533,11 @@ class Planner {
* extruder - target extruder * extruder - target extruder
* millimeters - the length of the movement, if known * millimeters - the length of the movement, if known
*/ */
FORCE_INLINE static void buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, const float &fr_mm_s, const uint8_t extruder, const float millimeters = 0.0) { FORCE_INLINE static bool buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, const float &fr_mm_s, const uint8_t extruder, const float millimeters = 0.0) {
#if PLANNER_LEVELING && IS_CARTESIAN #if PLANNER_LEVELING && IS_CARTESIAN
apply_leveling(rx, ry, rz); apply_leveling(rx, ry, rz);
#endif #endif
buffer_segment(rx, ry, rz, e, fr_mm_s, extruder, millimeters); return buffer_segment(rx, ry, rz, e, fr_mm_s, extruder, millimeters);
} }
/** /**
@ -506,7 +550,7 @@ class Planner {
* extruder - target extruder * extruder - target extruder
* millimeters - the length of the movement, if known * millimeters - the length of the movement, if known
*/ */
FORCE_INLINE static void buffer_line_kinematic(const float (&cart)[XYZE], const float &fr_mm_s, const uint8_t extruder, const float millimeters = 0.0) { FORCE_INLINE static bool buffer_line_kinematic(const float (&cart)[XYZE], const float &fr_mm_s, const uint8_t extruder, const float millimeters = 0.0) {
#if PLANNER_LEVELING #if PLANNER_LEVELING
float raw[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] }; float raw[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
apply_leveling(raw); apply_leveling(raw);
@ -515,9 +559,9 @@ class Planner {
#endif #endif
#if IS_KINEMATIC #if IS_KINEMATIC
inverse_kinematics(raw); inverse_kinematics(raw);
buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS], fr_mm_s, extruder, millimeters); return buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS], fr_mm_s, extruder, millimeters);
#else #else
buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], cart[E_AXIS], fr_mm_s, extruder, millimeters); return buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], cart[E_AXIS], fr_mm_s, extruder, millimeters);
#endif #endif
} }
@ -541,11 +585,6 @@ class Planner {
FORCE_INLINE static void set_z_position_mm(const float &z) { set_position_mm(Z_AXIS, z); } FORCE_INLINE static void set_z_position_mm(const float &z) { set_position_mm(Z_AXIS, z); }
FORCE_INLINE static void set_e_position_mm(const float &e) { set_position_mm(E_AXIS, e); } FORCE_INLINE static void set_e_position_mm(const float &e) { set_position_mm(E_AXIS, e); }
/**
* Sync from the stepper positions. (e.g., after an interrupted move)
*/
static void sync_from_steppers();
/** /**
* Get an axis position according to stepper position(s) * Get an axis position according to stepper position(s)
* For CORE machines apply translation from ABC to XYZ. * For CORE machines apply translation from ABC to XYZ.
@ -557,35 +596,38 @@ class Planner {
FORCE_INLINE static float get_axis_position_degrees(const AxisEnum axis) { return get_axis_position_mm(axis); } FORCE_INLINE static float get_axis_position_degrees(const AxisEnum axis) { return get_axis_position_mm(axis); }
#endif #endif
// Called to force a quick stop of the machine (for example, when an emergency
// stop is required, or when endstops are hit)
static void quick_stop();
// Called when an endstop is triggered. Causes the machine to stop inmediately
static void endstop_triggered(const AxisEnum axis);
// Triggered position of an axis in mm (not core-savvy)
static float triggered_position_mm(const AxisEnum axis);
// Block until all buffered steps are executed / cleaned
static void synchronize();
// Wait for moves to finish and disable all steppers
static void finish_and_disable();
// Periodic tick to handle cleaning timeouts
// Called from the Temperature ISR at ~1kHz
static void tick() {
if (cleaning_buffer_counter) {
--cleaning_buffer_counter;
#if ENABLED(SD_FINISHED_STEPPERRELEASE) && defined(SD_FINISHED_RELEASECOMMAND)
if (!cleaning_buffer_counter) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
#endif
}
}
/** /**
* Does the buffer have any blocks queued? * Does the buffer have any blocks queued?
*/ */
FORCE_INLINE static bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); } FORCE_INLINE static bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); }
//
// Block until all buffered steps are executed
//
static void synchronize();
/**
* "Discard" the block and "release" the memory.
* Called when the current block is no longer needed.
*/
FORCE_INLINE static void discard_current_block() {
if (has_blocks_queued())
block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
}
/**
* "Discard" the next block if it's continued.
* Called after an interrupted move to throw away the rest of the move.
*/
FORCE_INLINE static bool discard_continued_block() {
const bool discard = has_blocks_queued() && TEST(block_buffer[block_buffer_tail].flag, BLOCK_BIT_CONTINUED);
if (discard) discard_current_block();
return discard;
}
/** /**
* The current block. NULL if the buffer is empty. * The current block. NULL if the buffer is empty.
* This also marks the block as busy. * This also marks the block as busy.
@ -618,12 +660,32 @@ class Planner {
} }
} }
/**
* "Discard" the block and "release" the memory.
* Called when the current block is no longer needed.
* NB: There MUST be a current block to call this function!!
*/
FORCE_INLINE static void discard_current_block() {
block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
}
#if ENABLED(ULTRA_LCD) #if ENABLED(ULTRA_LCD)
static uint16_t block_buffer_runtime() { static uint16_t block_buffer_runtime() {
CRITICAL_SECTION_START #ifdef __AVR__
// Protect the access to the variable. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
#endif
millis_t bbru = block_buffer_runtime_us; millis_t bbru = block_buffer_runtime_us;
CRITICAL_SECTION_END
#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#endif
// To translate µs to ms a division by 1000 would be required. // To translate µs to ms a division by 1000 would be required.
// We introduce 2.4% error here by dividing by 1024. // We introduce 2.4% error here by dividing by 1024.
// Doesn't matter because block_buffer_runtime_us is already too small an estimation. // Doesn't matter because block_buffer_runtime_us is already too small an estimation.
@ -634,9 +696,19 @@ class Planner {
} }
static void clear_block_buffer_runtime() { static void clear_block_buffer_runtime() {
CRITICAL_SECTION_START #ifdef __AVR__
// Protect the access to the variable. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
#endif
block_buffer_runtime_us = 0; block_buffer_runtime_us = 0;
CRITICAL_SECTION_END
#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#endif
} }
#endif #endif
@ -679,12 +751,12 @@ class Planner {
} }
/** /**
* Calculate the maximum allowable speed at this point, in order * Calculate the maximum allowable speed squared at this point, in order
* to reach 'target_velocity' using 'acceleration' within a given * to reach 'target_velocity_sqr' using 'acceleration' within a given
* 'distance'. * 'distance'.
*/ */
static float max_allowable_speed(const float &accel, const float &target_velocity, const float &distance) { static float max_allowable_speed_sqr(const float &accel, const float &target_velocity_sqr, const float &distance) {
return SQRT(sq(target_velocity) - 2 * accel * distance); return target_velocity_sqr - 2 * accel * distance;
} }
#if ENABLED(BEZIER_JERK_CONTROL) #if ENABLED(BEZIER_JERK_CONTROL)

6
Marlin/src/module/planner_bezier.cpp
View file

@ -194,9 +194,11 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
#if HAS_UBL_AND_CURVES #if HAS_UBL_AND_CURVES
float pos[XYZ] = { bez_target[X_AXIS], bez_target[Y_AXIS], bez_target[Z_AXIS] }; float pos[XYZ] = { bez_target[X_AXIS], bez_target[Y_AXIS], bez_target[Z_AXIS] };
planner.apply_leveling(pos); planner.apply_leveling(pos);
planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], bez_target[E_AXIS], fr_mm_s, active_extruder); if (!planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], bez_target[E_AXIS], fr_mm_s, active_extruder))
break;
#else #else
planner.buffer_line_kinematic(bez_target, fr_mm_s, extruder); if (!planner.buffer_line_kinematic(bez_target, fr_mm_s, extruder))
break;
#endif #endif
} }
} }

517
Marlin/src/module/stepper.cpp
View file

@ -86,10 +86,6 @@ Stepper stepper; // Singleton
block_t* Stepper::current_block = NULL; // A pointer to the block currently being traced block_t* Stepper::current_block = NULL; // A pointer to the block currently being traced
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
bool Stepper::abort_on_endstop_hit = false;
#endif
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS) #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
bool Stepper::performing_homing = false; bool Stepper::performing_homing = false;
#endif #endif
@ -101,7 +97,6 @@ block_t* Stepper::current_block = NULL; // A pointer to the block currently bei
// private: // private:
uint8_t Stepper::last_direction_bits = 0; // The next stepping-bits to be output uint8_t Stepper::last_direction_bits = 0; // The next stepping-bits to be output
int16_t Stepper::cleaning_buffer_counter = 0;
#if ENABLED(X_DUAL_ENDSTOPS) #if ENABLED(X_DUAL_ENDSTOPS)
bool Stepper::locked_x_motor = false, Stepper::locked_x2_motor = false; bool Stepper::locked_x_motor = false, Stepper::locked_x2_motor = false;
@ -118,7 +113,7 @@ int32_t Stepper::counter_X = 0,
Stepper::counter_Z = 0, Stepper::counter_Z = 0,
Stepper::counter_E = 0; Stepper::counter_E = 0;
volatile uint32_t Stepper::step_events_completed = 0; // The number of step events executed in the current block uint32_t Stepper::step_events_completed = 0; // The number of step events executed in the current block
#if ENABLED(BEZIER_JERK_CONTROL) #if ENABLED(BEZIER_JERK_CONTROL)
int32_t __attribute__((used)) Stepper::bezier_A __asm__("bezier_A"); // A coefficient in Bézier speed curve with alias for assembler int32_t __attribute__((used)) Stepper::bezier_A __asm__("bezier_A"); // A coefficient in Bézier speed curve with alias for assembler
@ -132,14 +127,15 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
bool Stepper::bezier_2nd_half; // =false If Bézier curve has been initialized or not bool Stepper::bezier_2nd_half; // =false If Bézier curve has been initialized or not
#endif #endif
uint32_t Stepper::nextMainISR = 0;
bool Stepper::all_steps_done = false;
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
uint32_t Stepper::LA_decelerate_after; uint32_t Stepper::LA_decelerate_after;
constexpr hal_timer_t ADV_NEVER = HAL_TIMER_TYPE_MAX; constexpr uint32_t ADV_NEVER = 0xFFFFFFFF;
uint32_t Stepper::nextAdvanceISR = ADV_NEVER,
hal_timer_t Stepper::nextMainISR = 0,
Stepper::nextAdvanceISR = ADV_NEVER,
Stepper::eISR_Rate = ADV_NEVER; Stepper::eISR_Rate = ADV_NEVER;
uint16_t Stepper::current_adv_steps = 0, uint16_t Stepper::current_adv_steps = 0,
Stepper::final_adv_steps, Stepper::final_adv_steps,
@ -157,7 +153,7 @@ volatile uint32_t Stepper::step_events_completed = 0; // The number of step even
#endif // LIN_ADVANCE #endif // LIN_ADVANCE
int32_t Stepper::acceleration_time, Stepper::deceleration_time; uint32_t Stepper::acceleration_time, Stepper::deceleration_time;
volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 }; volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 };
volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 }; volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
@ -166,11 +162,11 @@ volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
int32_t Stepper::counter_m[MIXING_STEPPERS]; int32_t Stepper::counter_m[MIXING_STEPPERS];
#endif #endif
uint32_t Stepper::ticks_nominal;
uint8_t Stepper::step_loops, Stepper::step_loops_nominal; uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
hal_timer_t Stepper::OCR1A_nominal;
#if DISABLED(BEZIER_JERK_CONTROL) #if DISABLED(BEZIER_JERK_CONTROL)
hal_timer_t Stepper::acc_step_rate; // needed for deceleration start point uint32_t Stepper::acc_step_rate; // needed for deceleration start point
#endif #endif
volatile int32_t Stepper::endstops_trigsteps[XYZ]; volatile int32_t Stepper::endstops_trigsteps[XYZ];
@ -379,7 +375,7 @@ void Stepper::set_directions() {
* *
* Floating point arithmetic execution time cost is prohibitive, so we will transform the math to * Floating point arithmetic execution time cost is prohibitive, so we will transform the math to
* use fixed point values to be able to evaluate it in realtime. Assuming a maximum of 250000 steps * use fixed point values to be able to evaluate it in realtime. Assuming a maximum of 250000 steps
* per second (driver pulses should at least be 2uS hi/2uS lo), and allocating 2 bits to avoid * per second (driver pulses should at least be 2µS hi/2µS lo), and allocating 2 bits to avoid
* overflows on the evaluation of the Bézier curve, means we can use * overflows on the evaluation of the Bézier curve, means we can use
* *
* t: unsigned Q0.32 (0 <= t < 1) |range 0 to 0xFFFFFFFF unsigned * t: unsigned Q0.32 (0 <= t < 1) |range 0 to 0xFFFFFFFF unsigned
@ -1149,11 +1145,27 @@ void Stepper::set_directions() {
HAL_STEP_TIMER_ISR { HAL_STEP_TIMER_ISR {
HAL_timer_isr_prologue(STEP_TIMER_NUM); HAL_timer_isr_prologue(STEP_TIMER_NUM);
#if ENABLED(LIN_ADVANCE) // Program timer compare for the maximum period, so it does NOT
Stepper::advance_isr_scheduler(); // flag an interrupt while this ISR is running - So changes from small
#else // periods to big periods are respected and the timer does not reset to 0
Stepper::isr(); HAL_timer_set_compare(STEP_TIMER_NUM, HAL_TIMER_TYPE_MAX);
#endif
// Call the ISR scheduler
hal_timer_t ticks = Stepper::isr_scheduler();
// Now 'ticks' contains the period to the next Stepper ISR.
// Potential problem: Since the timer continues to run, the requested
// compare value may already have passed.
//
// Assuming at least 6µs between calls to this ISR...
// On AVR the ISR epilogue is estimated at 40 instructions - close to 2.5µS.
// On ARM the ISR epilogue is estimated at 10 instructions - close to 200nS.
// In either case leave at least 4µS for other tasks to execute.
const hal_timer_t minticks = HAL_timer_get_count(STEP_TIMER_NUM) + hal_timer_t((HAL_TICKS_PER_US) * 4); // ISR never takes more than 1ms, so this shouldn't cause trouble
NOLESS(ticks, MAX(minticks, hal_timer_t((STEP_TIMER_MIN_INTERVAL) * (HAL_TICKS_PER_US))));
// Set the next ISR to fire at the proper time
HAL_timer_set_compare(STEP_TIMER_NUM, ticks);
HAL_timer_isr_epilogue(STEP_TIMER_NUM); HAL_timer_isr_epilogue(STEP_TIMER_NUM);
} }
@ -1164,168 +1176,64 @@ HAL_STEP_TIMER_ISR {
#define STEP_MULTIPLY(A,B) MultiU24X32toH16(A, B) #define STEP_MULTIPLY(A,B) MultiU24X32toH16(A, B)
#endif #endif
void Stepper::isr() { hal_timer_t Stepper::isr_scheduler() {
uint32_t interval;
#define ENDSTOP_NOMINAL_OCR_VAL 1500 * HAL_TICKS_PER_US // Check endstops every 1.5ms to guarantee two stepper ISRs within 5ms for BLTouch // Run main stepping pulse phase ISR if we have to
#define OCR_VAL_TOLERANCE 500 * HAL_TICKS_PER_US // First max delay is 2.0ms, last min delay is 0.5ms, all others 1.5ms if (!nextMainISR) Stepper::stepper_pulse_phase_isr();
hal_timer_t ocr_val;
static uint32_t step_remaining = 0; // SPLIT function always runs. This allows 16 bit timers to be
// used to generate the stepper ISR.
#define SPLIT(L) do { \
if (L > ENDSTOP_NOMINAL_OCR_VAL) { \
const uint32_t remainder = (uint32_t)L % (ENDSTOP_NOMINAL_OCR_VAL); \
ocr_val = (remainder < OCR_VAL_TOLERANCE) ? ENDSTOP_NOMINAL_OCR_VAL + remainder : ENDSTOP_NOMINAL_OCR_VAL; \
step_remaining = (uint32_t)L - ocr_val; \
} \
else \
ocr_val = L;\
}while(0)
// Time remaining before the next step?
if (step_remaining) {
// Make sure endstops are updated
if (ENDSTOPS_ENABLED) endstops.update();
// Next ISR either for endstops or stepping
ocr_val = step_remaining <= ENDSTOP_NOMINAL_OCR_VAL ? step_remaining : ENDSTOP_NOMINAL_OCR_VAL;
step_remaining -= ocr_val;
_NEXT_ISR(ocr_val);
#if DISABLED(LIN_ADVANCE)
HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL * HAL_TICKS_PER_US);
#endif
return;
}
//
// When cleaning, discard the current block and run fast
//
if (cleaning_buffer_counter) {
if (cleaning_buffer_counter < 0) { // Count up for endstop hit
if (current_block) planner.discard_current_block(); // Discard the active block that led to the trigger
if (!planner.discard_continued_block()) // Discard next CONTINUED block
cleaning_buffer_counter = 0; // Keep discarding until non-CONTINUED
}
else {
planner.discard_current_block();
--cleaning_buffer_counter; // Count down for abort print
#if ENABLED(SD_FINISHED_STEPPERRELEASE) && defined(SD_FINISHED_RELEASECOMMAND)
if (!cleaning_buffer_counter) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
#endif
}
current_block = NULL; // Prep to get a new block after cleaning
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 10000); // Run at max speed - 10 KHz
return;
}
// If there is no current block, attempt to pop one from the buffer
if (!current_block) {
// Anything in the buffer?
if ((current_block = planner.get_current_block())) {
// Sync block? Sync the stepper counts and return
while (TEST(current_block->flag, BLOCK_BIT_SYNC_POSITION)) {
_set_position(
current_block->steps[A_AXIS], current_block->steps[B_AXIS],
current_block->steps[C_AXIS], current_block->steps[E_AXIS]
);
planner.discard_current_block();
if (!(current_block = planner.get_current_block())) return;
}
// Initialize the trapezoid generator from the current block.
static int8_t last_extruder = -1;
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
#if E_STEPPERS > 1 // Run linear advance stepper ISR if we have to
if (current_block->active_extruder != last_extruder) { if (!nextAdvanceISR) nextAdvanceISR = Stepper::advance_isr();
current_adv_steps = 0; // If the now active extruder wasn't in use during the last move, its pressure is most likely gone.
LA_active_extruder = current_block->active_extruder;
}
#endif #endif
if ((use_advance_lead = current_block->use_advance_lead)) { // ^== Time critical. NOTHING besides pulse generation should be above here!!!
LA_decelerate_after = current_block->decelerate_after;
final_adv_steps = current_block->final_adv_steps; // Run main stepping block processing ISR if we have to
max_adv_steps = current_block->max_adv_steps; if (!nextMainISR) nextMainISR = Stepper::stepper_block_phase_isr();
}
#if ENABLED(LIN_ADVANCE)
// Select the closest interval in time
interval = (nextAdvanceISR <= nextMainISR)
? nextAdvanceISR
: nextMainISR;
#else // !ENABLED(LIN_ADVANCE)
// The interval is just the remaining time to the stepper ISR
interval = nextMainISR;
#endif #endif
if (current_block->direction_bits != last_direction_bits || current_block->active_extruder != last_extruder) { // Limit the value to the maximum possible value of the timer
last_direction_bits = current_block->direction_bits; if (interval > HAL_TIMER_TYPE_MAX)
last_extruder = current_block->active_extruder; interval = HAL_TIMER_TYPE_MAX;
set_directions();
}
// No acceleration / deceleration time elapsed so far // Compute the time remaining for the main isr
acceleration_time = deceleration_time = 0; nextMainISR -= interval;
// No step events completed so far #if ENABLED(LIN_ADVANCE)
step_events_completed = 0; // Compute the time remaining for the advance isr
if (nextAdvanceISR != ADV_NEVER)
// step_rate to timer interval nextAdvanceISR -= interval;
OCR1A_nominal = calc_timer_interval(current_block->nominal_rate);
// make a note of the number of step loops required at nominal speed
step_loops_nominal = step_loops;
#if DISABLED(BEZIER_JERK_CONTROL)
// Set as deceleration point the initial rate of the block
acc_step_rate = current_block->initial_rate;
#endif #endif
#if ENABLED(BEZIER_JERK_CONTROL) return (hal_timer_t)interval;
// Initialize the Bézier speed curve }
_calc_bezier_curve_coeffs(current_block->initial_rate, current_block->cruise_rate, current_block->acceleration_time_inverse);
// We have not started the 2nd half of the trapezoid // This part of the ISR should ONLY create the pulses for the steppers
bezier_2nd_half = false; // -- Nothing more, nothing less -- We want to avoid jitter from where
#endif // the pulses should be generated (when the interrupt triggers) to the
// time pulses are actually created. So, PLEASE DO NOT PLACE ANY CODE
// above this line that can conditionally change that time (we are trying
// to keep the delay between the interrupt triggering and pulse generation
// as constant as possible!!!!
void Stepper::stepper_pulse_phase_isr() {
// Initialize Bresenham counters to 1/2 the ceiling // If there is no current block, do nothing
counter_X = counter_Y = counter_Z = counter_E = -(current_block->step_event_count >> 1); if (!current_block) return;
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(i)
counter_m[i] = -(current_block->mix_event_count[i] >> 1);
#endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
e_hit = 2; // Needed for the case an endstop is already triggered before the new move begins.
// No 'change' can be detected.
#endif
#if ENABLED(Z_LATE_ENABLE)
// If delayed Z enable, postpone move for 1mS
if (current_block->steps[Z_AXIS] > 0) {
enable_Z();
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 1000); // Run at slow speed - 1 KHz
return;
}
#endif
}
else {
// If no more queued moves, postpone next check for 1mS
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 1000); // Run at slow speed - 1 KHz
return;
}
}
// Update endstops state, if enabled
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
if (e_hit && ENDSTOPS_ENABLED) {
endstops.update();
e_hit--;
}
#else
if (ENDSTOPS_ENABLED) endstops.update();
#endif
// Take multiple steps per interrupt (For high speed moves) // Take multiple steps per interrupt (For high speed moves)
bool all_steps_done = false; all_steps_done = false;
for (uint8_t i = step_loops; i--;) { for (uint8_t i = step_loops; i--;) {
#define _COUNTER(AXIS) counter_## AXIS #define _COUNTER(AXIS) counter_## AXIS
@ -1520,13 +1428,26 @@ void Stepper::isr() {
#endif #endif
} // steps_loop } // steps_loop
}
// This is the last half of the stepper interrupt: This one processes and
// properly schedules blocks from the planner. This is executed after creating
// the step pulses, so it is not time critical, as pulses are already done.
uint32_t Stepper::stepper_block_phase_isr() {
// If no queued movements, just wait 1ms for the next move
uint32_t interval = (HAL_STEPPER_TIMER_RATE / 1000);
// If there is a current block
if (current_block) {
// Calculate new timer value // Calculate new timer value
if (step_events_completed <= (uint32_t)current_block->accelerate_until) { if (step_events_completed <= current_block->accelerate_until) {
#if ENABLED(BEZIER_JERK_CONTROL) #if ENABLED(BEZIER_JERK_CONTROL)
// Get the next speed to use (Jerk limited!) // Get the next speed to use (Jerk limited!)
hal_timer_t acc_step_rate = uint32_t acc_step_rate =
acceleration_time < current_block->acceleration_time acceleration_time < current_block->acceleration_time
? _eval_bezier_curve(acceleration_time) ? _eval_bezier_curve(acceleration_time)
: current_block->cruise_rate; : current_block->cruise_rate;
@ -1536,11 +1457,7 @@ void Stepper::isr() {
#endif #endif
// step_rate to timer interval // step_rate to timer interval
const hal_timer_t interval = calc_timer_interval(acc_step_rate); interval = calc_timer_interval(acc_step_rate);
SPLIT(interval); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val);
acceleration_time += interval; acceleration_time += interval;
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
@ -1556,13 +1473,12 @@ void Stepper::isr() {
} }
#endif // LIN_ADVANCE #endif // LIN_ADVANCE
} }
else if (step_events_completed > (uint32_t)current_block->decelerate_after) { else if (step_events_completed > current_block->decelerate_after) {
hal_timer_t step_rate; uint32_t step_rate;
#if ENABLED(BEZIER_JERK_CONTROL) #if ENABLED(BEZIER_JERK_CONTROL)
// If this is the 1st time we process the 2nd half of the trapezoid... // If this is the 1st time we process the 2nd half of the trapezoid...
if (!bezier_2nd_half) { if (!bezier_2nd_half) {
// Initialize the Bézier speed curve // Initialize the Bézier speed curve
_calc_bezier_curve_coeffs(current_block->cruise_rate, current_block->final_rate, current_block->deceleration_time_inverse); _calc_bezier_curve_coeffs(current_block->cruise_rate, current_block->final_rate, current_block->deceleration_time_inverse);
bezier_2nd_half = true; bezier_2nd_half = true;
@ -1582,20 +1498,15 @@ void Stepper::isr() {
} }
else else
step_rate = current_block->final_rate; step_rate = current_block->final_rate;
#endif #endif
// step_rate to timer interval // step_rate to timer interval
const hal_timer_t interval = calc_timer_interval(step_rate); interval = calc_timer_interval(step_rate);
SPLIT(interval); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL
_NEXT_ISR(ocr_val);
deceleration_time += interval; deceleration_time += interval;
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
if (current_block->use_advance_lead) { if (current_block->use_advance_lead) {
if (step_events_completed <= (uint32_t)current_block->decelerate_after + step_loops || (e_steps && eISR_Rate != current_block->advance_speed)) { if (step_events_completed <= current_block->decelerate_after + step_loops || (e_steps && eISR_Rate != current_block->advance_speed)) {
nextAdvanceISR = 0; // Wake up eISR on first deceleration loop nextAdvanceISR = 0; // Wake up eISR on first deceleration loop
eISR_Rate = current_block->advance_speed; eISR_Rate = current_block->advance_speed;
} }
@ -1609,27 +1520,116 @@ void Stepper::isr() {
else { else {
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
// If we have esteps to execute, fire the next advance_isr "now" // If there are any esteps, fire the next advance_isr "now"
if (e_steps && eISR_Rate != current_block->advance_speed) nextAdvanceISR = 0; if (e_steps && eISR_Rate != current_block->advance_speed) nextAdvanceISR = 0;
#endif #endif
SPLIT(OCR1A_nominal); // split step into multiple ISRs if larger than ENDSTOP_NOMINAL_OCR_VAL // The timer interval is just the nominal value for the nominal speed
_NEXT_ISR(ocr_val); interval = ticks_nominal;
// ensure we're running at the correct step rate, even if we just came off an acceleration // Ensure this runs at the correct step rate, even if it just came off an acceleration
step_loops = step_loops_nominal; step_loops = step_loops_nominal;
} }
#if DISABLED(LIN_ADVANCE)
// Make sure stepper ISR doesn't monopolize the CPU
HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL * HAL_TICKS_PER_US);
#endif
// If current block is finished, reset pointer // If current block is finished, reset pointer
if (all_steps_done) { if (all_steps_done) {
current_block = NULL; current_block = NULL;
planner.discard_current_block(); planner.discard_current_block();
} }
}
// If there is no current block at this point, attempt to pop one from the buffer
// and prepare its movement
if (!current_block) {
// Anything in the buffer?
if ((current_block = planner.get_current_block())) {
// Sync block? Sync the stepper counts and return
while (TEST(current_block->flag, BLOCK_BIT_SYNC_POSITION)) {
_set_position(
current_block->position[A_AXIS], current_block->position[B_AXIS],
current_block->position[C_AXIS], current_block->position[E_AXIS]
);
planner.discard_current_block();
// Try to get a new block
if (!(current_block = planner.get_current_block()))
return interval; // No more queued movements!
}
// Initialize the trapezoid generator from the current block.
static int8_t last_extruder = -1;
#if ENABLED(LIN_ADVANCE)
#if E_STEPPERS > 1
if (current_block->active_extruder != last_extruder) {
current_adv_steps = 0; // If the now active extruder wasn't in use during the last move, its pressure is most likely gone.
LA_active_extruder = current_block->active_extruder;
}
#endif
if ((use_advance_lead = current_block->use_advance_lead)) {
LA_decelerate_after = current_block->decelerate_after;
final_adv_steps = current_block->final_adv_steps;
max_adv_steps = current_block->max_adv_steps;
}
#endif
if (current_block->direction_bits != last_direction_bits || current_block->active_extruder != last_extruder) {
last_direction_bits = current_block->direction_bits;
last_extruder = current_block->active_extruder;
set_directions();
}
// No acceleration / deceleration time elapsed so far
acceleration_time = deceleration_time = 0;
// No step events completed so far
step_events_completed = 0;
// step_rate to timer interval for the nominal speed
ticks_nominal = calc_timer_interval(current_block->nominal_rate);
// make a note of the number of step loops required at nominal speed
step_loops_nominal = step_loops;
#if DISABLED(BEZIER_JERK_CONTROL)
// Set as deceleration point the initial rate of the block
acc_step_rate = current_block->initial_rate;
#endif
#if ENABLED(BEZIER_JERK_CONTROL)
// Initialize the Bézier speed curve
_calc_bezier_curve_coeffs(current_block->initial_rate, current_block->cruise_rate, current_block->acceleration_time_inverse);
// We have not started the 2nd half of the trapezoid
bezier_2nd_half = false;
#endif
// Initialize Bresenham counters to 1/2 the ceiling
counter_X = counter_Y = counter_Z = counter_E = -((int32_t)(current_block->step_event_count >> 1));
#if ENABLED(MIXING_EXTRUDER)
MIXING_STEPPERS_LOOP(i)
counter_m[i] = -(current_block->mix_event_count[i] >> 1);
#endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
e_hit = 2; // Needed for the case an endstop is already triggered before the new move begins.
// No 'change' can be detected.
#endif
#if ENABLED(Z_LATE_ENABLE)
// If delayed Z enable, enable it now. This option will severely interfere with
// timing between pulses when chaining motion between blocks, and it could lead
// to lost steps in both X and Y axis, so avoid using it unless strictly necessary!!
if (current_block->steps[Z_AXIS]) enable_Z();
#endif
}
}
// Return the interval to wait
return interval;
} }
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
@ -1638,8 +1638,8 @@ void Stepper::isr() {
#define EXTRA_CYCLES_E (STEP_PULSE_CYCLES - (CYCLES_EATEN_E)) #define EXTRA_CYCLES_E (STEP_PULSE_CYCLES - (CYCLES_EATEN_E))
// Timer interrupt for E. e_steps is set in the main routine; // Timer interrupt for E. e_steps is set in the main routine;
uint32_t Stepper::advance_isr() {
void Stepper::advance_isr() { uint32_t interval;
#if ENABLED(MK2_MULTIPLEXER) // For SNMM even-numbered steppers are reversed #if ENABLED(MK2_MULTIPLEXER) // For SNMM even-numbered steppers are reversed
#define SET_E_STEP_DIR(INDEX) do{ if (e_steps) E0_DIR_WRITE(e_steps < 0 ? !INVERT_E## INDEX ##_DIR ^ TEST(INDEX, 0) : INVERT_E## INDEX ##_DIR ^ TEST(INDEX, 0)); }while(0) #define SET_E_STEP_DIR(INDEX) do{ if (e_steps) E0_DIR_WRITE(e_steps < 0 ? !INVERT_E## INDEX ##_DIR ^ TEST(INDEX, 0) : INVERT_E## INDEX ##_DIR ^ TEST(INDEX, 0)); }while(0)
@ -1700,21 +1700,21 @@ void Stepper::isr() {
if (step_events_completed > LA_decelerate_after && current_adv_steps > final_adv_steps) { if (step_events_completed > LA_decelerate_after && current_adv_steps > final_adv_steps) {
e_steps--; e_steps--;
current_adv_steps--; current_adv_steps--;
nextAdvanceISR = eISR_Rate; interval = eISR_Rate;
} }
else if (step_events_completed < LA_decelerate_after && current_adv_steps < max_adv_steps) { else if (step_events_completed < LA_decelerate_after && current_adv_steps < max_adv_steps) {
//step_events_completed <= (uint32_t)current_block->accelerate_until) { //step_events_completed <= (uint32_t)current_block->accelerate_until) {
e_steps++; e_steps++;
current_adv_steps++; current_adv_steps++;
nextAdvanceISR = eISR_Rate; interval = eISR_Rate;
} }
else { else {
nextAdvanceISR = ADV_NEVER; interval = ADV_NEVER;
eISR_Rate = ADV_NEVER; eISR_Rate = ADV_NEVER;
} }
} }
else else
nextAdvanceISR = ADV_NEVER; interval = ADV_NEVER;
switch (LA_active_extruder) { switch (LA_active_extruder) {
case 0: SET_E_STEP_DIR(0); break; case 0: SET_E_STEP_DIR(0); break;
@ -1787,39 +1787,9 @@ void Stepper::isr() {
#endif #endif
} // e_steps } // e_steps
return interval;
} }
void Stepper::advance_isr_scheduler() {
// Run main stepping ISR if flagged
if (!nextMainISR) isr();
// Run Advance stepping ISR if flagged
if (!nextAdvanceISR) advance_isr();
// Is the next advance ISR scheduled before the next main ISR?
if (nextAdvanceISR <= nextMainISR) {
// Set up the next interrupt
HAL_timer_set_compare(STEP_TIMER_NUM, nextAdvanceISR);
// New interval for the next main ISR
if (nextMainISR) nextMainISR -= nextAdvanceISR;
// Will call Stepper::advance_isr on the next interrupt
nextAdvanceISR = 0;
}
else {
// The next main ISR comes first
HAL_timer_set_compare(STEP_TIMER_NUM, nextMainISR);
// New interval for the next advance ISR, if any
if (nextAdvanceISR && nextAdvanceISR != ADV_NEVER)
nextAdvanceISR -= nextMainISR;
// Will call Stepper::isr on the next interrupt
nextMainISR = 0;
}
// Make sure stepper ISR doesn't monopolize the CPU
HAL_timer_restrain(STEP_TIMER_NUM, STEP_TIMER_MIN_INTERVAL * HAL_TICKS_PER_US);
}
#endif // LIN_ADVANCE #endif // LIN_ADVANCE
void Stepper::init() { void Stepper::init() {
@ -2048,30 +2018,47 @@ void Stepper::_set_position(const int32_t &a, const int32_t &b, const int32_t &c
* Get a stepper's position in steps. * Get a stepper's position in steps.
*/ */
int32_t Stepper::position(const AxisEnum axis) { int32_t Stepper::position(const AxisEnum axis) {
CRITICAL_SECTION_START; #ifdef __AVR__
const int32_t count_pos = count_position[axis]; // Protect the access to the position. Only required for AVR, as
CRITICAL_SECTION_END; // any 32bit CPU offers atomic access to 32bit variables
return count_pos; const bool was_enabled = STEPPER_ISR_ENABLED();
} if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
#endif
void Stepper::finish_and_disable() { int32_t v = count_position[axis];
planner.synchronize();
disable_all_steppers(); #ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#endif
return v;
} }
void Stepper::quick_stop() { void Stepper::quick_stop() {
const bool was_enabled = STEPPER_ISR_ENABLED();
DISABLE_STEPPER_DRIVER_INTERRUPT(); DISABLE_STEPPER_DRIVER_INTERRUPT();
kill_current_block();
if (current_block) {
step_events_completed = current_block->step_event_count;
current_block = NULL; current_block = NULL;
cleaning_buffer_counter = 5000; }
planner.clear_block_buffer();
ENABLE_STEPPER_DRIVER_INTERRUPT(); if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#if ENABLED(ULTRA_LCD) }
planner.clear_block_buffer_runtime();
#endif void Stepper::kill_current_block() {
const bool was_enabled = STEPPER_ISR_ENABLED();
DISABLE_STEPPER_DRIVER_INTERRUPT();
if (current_block)
step_events_completed = current_block->step_event_count;
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
} }
void Stepper::endstop_triggered(const AxisEnum axis) { void Stepper::endstop_triggered(const AxisEnum axis) {
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
#if IS_CORE #if IS_CORE
@ -2086,16 +2073,48 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
#endif // !COREXY && !COREXZ && !COREYZ #endif // !COREXY && !COREXZ && !COREYZ
kill_current_block(); // Discard the rest of the move if there is a current block
cleaning_buffer_counter = -1; // Discard the rest of the move if (current_block) {
// Kill the current block being executed
step_events_completed = current_block->step_event_count;
// Prep to get a new block after cleaning
current_block = NULL;
}
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
}
int32_t Stepper::triggered_position(const AxisEnum axis) {
#ifdef __AVR__
// Protect the access to the position. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
#endif
const int32_t v = endstops_trigsteps[axis];
#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#endif
return v;
} }
void Stepper::report_positions() { void Stepper::report_positions() {
CRITICAL_SECTION_START;
// Protect the access to the position.
const bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
const int32_t xpos = count_position[X_AXIS], const int32_t xpos = count_position[X_AXIS],
ypos = count_position[Y_AXIS], ypos = count_position[Y_AXIS],
zpos = count_position[Z_AXIS]; zpos = count_position[Z_AXIS];
CRITICAL_SECTION_END;
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#if CORE_IS_XY || CORE_IS_XZ || IS_DELTA || IS_SCARA #if CORE_IS_XY || CORE_IS_XZ || IS_DELTA || IS_SCARA
SERIAL_PROTOCOLPGM(MSG_COUNT_A); SERIAL_PROTOCOLPGM(MSG_COUNT_A);

140
Marlin/src/module/stepper.h
View file

@ -62,10 +62,6 @@ class Stepper {
static block_t* current_block; // A pointer to the block currently being traced static block_t* current_block; // A pointer to the block currently being traced
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
static bool abort_on_endstop_hit;
#endif
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS) #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
static bool performing_homing; static bool performing_homing;
#endif #endif
@ -77,8 +73,6 @@ class Stepper {
static uint32_t motor_current_setting[3]; static uint32_t motor_current_setting[3];
#endif #endif
static int16_t cleaning_buffer_counter;
private: private:
static uint8_t last_direction_bits; // The next stepping-bits to be output static uint8_t last_direction_bits; // The next stepping-bits to be output
@ -95,7 +89,7 @@ class Stepper {
// Counter variables for the Bresenham line tracer // Counter variables for the Bresenham line tracer
static int32_t counter_X, counter_Y, counter_Z, counter_E; static int32_t counter_X, counter_Y, counter_Z, counter_E;
static volatile uint32_t step_events_completed; // The number of step events executed in the current block static uint32_t step_events_completed; // The number of step events executed in the current block
#if ENABLED(BEZIER_JERK_CONTROL) #if ENABLED(BEZIER_JERK_CONTROL)
static int32_t bezier_A, // A coefficient in Bézier speed curve static int32_t bezier_A, // A coefficient in Bézier speed curve
@ -109,12 +103,14 @@ class Stepper {
static bool bezier_2nd_half; // If Bézier curve has been initialized or not static bool bezier_2nd_half; // If Bézier curve has been initialized or not
#endif #endif
static uint32_t nextMainISR; // time remaining for the next Step ISR
static bool all_steps_done; // all steps done
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
static uint32_t LA_decelerate_after; // Copy from current executed block. Needed because current_block is set to NULL "too early". static uint32_t LA_decelerate_after; // Copy from current executed block. Needed because current_block is set to NULL "too early".
static hal_timer_t nextMainISR, nextAdvanceISR, eISR_Rate; static uint32_t nextAdvanceISR, eISR_Rate;
static uint16_t current_adv_steps, final_adv_steps, max_adv_steps; // Copy from current executed block. Needed because current_block is set to NULL "too early". static uint16_t current_adv_steps, final_adv_steps, max_adv_steps; // Copy from current executed block. Needed because current_block is set to NULL "too early".
#define _NEXT_ISR(T) nextMainISR = T
static int8_t e_steps; static int8_t e_steps;
static bool use_advance_lead; static bool use_advance_lead;
#if E_STEPPERS > 1 #if E_STEPPERS > 1
@ -123,18 +119,14 @@ class Stepper {
static constexpr int8_t LA_active_extruder = 0; static constexpr int8_t LA_active_extruder = 0;
#endif #endif
#else // !LIN_ADVANCE #endif // LIN_ADVANCE
#define _NEXT_ISR(T) HAL_timer_set_compare(STEP_TIMER_NUM, T); static uint32_t acceleration_time, deceleration_time;
#endif // !LIN_ADVANCE
static int32_t acceleration_time, deceleration_time;
static uint8_t step_loops, step_loops_nominal; static uint8_t step_loops, step_loops_nominal;
static hal_timer_t OCR1A_nominal; static uint32_t ticks_nominal;
#if DISABLED(BEZIER_JERK_CONTROL) #if DISABLED(BEZIER_JERK_CONTROL)
static hal_timer_t acc_step_rate; // needed for deceleration start point static uint32_t acc_step_rate; // needed for deceleration start point
#endif #endif
static volatile int32_t endstops_trigsteps[XYZ]; static volatile int32_t endstops_trigsteps[XYZ];
@ -167,88 +159,50 @@ class Stepper {
// //
Stepper() { }; Stepper() { };
//
// Initialize stepper hardware // Initialize stepper hardware
//
static void init(); static void init();
//
// Interrupt Service Routines // Interrupt Service Routines
//
static void isr(); // The ISR scheduler
static hal_timer_t isr_scheduler();
// The stepper pulse phase ISR
static void stepper_pulse_phase_isr();
// The stepper block processing phase ISR
static uint32_t stepper_block_phase_isr();
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
static void advance_isr(); // The Linear advance stepper ISR
static void advance_isr_scheduler(); static uint32_t advance_isr();
#endif #endif
//
// Set the current position in steps
//
static void _set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
FORCE_INLINE static void _set_position(const AxisEnum a, const int32_t &v) { count_position[a] = v; }
FORCE_INLINE static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
planner.synchronize();
CRITICAL_SECTION_START;
_set_position(a, b, c, e);
CRITICAL_SECTION_END;
}
static void set_position(const AxisEnum a, const int32_t &v) {
planner.synchronize();
CRITICAL_SECTION_START;
count_position[a] = v;
CRITICAL_SECTION_END;
}
FORCE_INLINE static void _set_e_position(const int32_t &e) { count_position[E_AXIS] = e; }
static void set_e_position(const int32_t &e) {
planner.synchronize();
CRITICAL_SECTION_START;
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
}
//
// Set direction bits for all steppers
//
static void set_directions();
//
// Get the position of a stepper, in steps // Get the position of a stepper, in steps
//
static int32_t position(const AxisEnum axis); static int32_t position(const AxisEnum axis);
//
// Report the positions of the steppers, in steps // Report the positions of the steppers, in steps
//
static void report_positions(); static void report_positions();
//
// The stepper subsystem goes to sleep when it runs out of things to execute. Call this // The stepper subsystem goes to sleep when it runs out of things to execute. Call this
// to notify the subsystem that it is time to go to work. // to notify the subsystem that it is time to go to work.
//
static void wake_up(); static void wake_up();
// // Quickly stop all steppers
// Wait for moves to finish and disable all steppers
//
static void finish_and_disable();
//
// Quickly stop all steppers and clear the blocks queue
//
static void quick_stop(); static void quick_stop();
//
// The direction of a single motor // The direction of a single motor
//
FORCE_INLINE static bool motor_direction(const AxisEnum axis) { return TEST(last_direction_bits, axis); } FORCE_INLINE static bool motor_direction(const AxisEnum axis) { return TEST(last_direction_bits, axis); }
// Kill current block
static void kill_current_block();
// Handle a triggered endstop
static void endstop_triggered(const AxisEnum axis);
// Triggered position of an axis in steps
static int32_t triggered_position(const AxisEnum axis);
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM #if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
static void digitalPotWrite(const int16_t address, const int16_t value); static void digitalPotWrite(const int16_t address, const int16_t value);
static void digipot_current(const uint8_t driver, const int16_t current); static void digipot_current(const uint8_t driver, const int16_t current);
@ -280,34 +234,24 @@ class Stepper {
static void babystep(const AxisEnum axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention static void babystep(const AxisEnum axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention
#endif #endif
static inline void kill_current_block() {
step_events_completed = current_block->step_event_count;
}
//
// Handle a triggered endstop
//
static void endstop_triggered(const AxisEnum axis);
//
// Triggered position of an axis in mm (not core-savvy)
//
FORCE_INLINE static float triggered_position_mm(const AxisEnum axis) {
return endstops_trigsteps[axis] * planner.steps_to_mm[axis];
}
#if HAS_MOTOR_CURRENT_PWM #if HAS_MOTOR_CURRENT_PWM
static void refresh_motor_power(); static void refresh_motor_power();
#endif #endif
private: private:
FORCE_INLINE static hal_timer_t calc_timer_interval(hal_timer_t step_rate) { // Set the current position in steps
hal_timer_t timer; static void _set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e);
// Set direction bits for all steppers
static void set_directions();
FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate) {
uint32_t timer;
NOMORE(step_rate, MAX_STEP_FREQUENCY); NOMORE(step_rate, MAX_STEP_FREQUENCY);
// TODO: HAL: tidy this up, use condtionals_post.h // TODO: HAL: tidy this up, use Conditionals_post.h
#ifdef CPU_32_BIT #ifdef CPU_32_BIT
#if ENABLED(DISABLE_MULTI_STEPPING) #if ENABLED(DISABLE_MULTI_STEPPING)
step_loops = 1; step_loops = 1;
@ -348,16 +292,16 @@ class Stepper {
step_rate -= F_CPU / 500000; // Correct for minimal speed step_rate -= F_CPU / 500000; // Correct for minimal speed
if (step_rate >= (8 * 256)) { // higher step rate if (step_rate >= (8 * 256)) { // higher step rate
uint8_t tmp_step_rate = (step_rate & 0x00FF); uint8_t tmp_step_rate = (step_rate & 0x00FF);
uint16_t table_address = (uint16_t)&speed_lookuptable_fast[(uint8_t)(step_rate >> 8)][0]; uint16_t table_address = (uint16_t)&speed_lookuptable_fast[(uint8_t)(step_rate >> 8)][0],
uint16_t gain = (uint16_t)pgm_read_word_near(table_address + 2); gain = (uint16_t)pgm_read_word_near(table_address + 2);
timer = MultiU16X8toH16(tmp_step_rate, gain); timer = MultiU16X8toH16(tmp_step_rate, gain);
timer = (uint16_t)pgm_read_word_near(table_address) - timer; timer = (uint16_t)pgm_read_word_near(table_address) - timer;
} }
else { // lower step rates else { // lower step rates
uint16_t table_address = (uint16_t)&speed_lookuptable_slow[0][0]; uint16_t table_address = (uint16_t)&speed_lookuptable_slow[0][0];
table_address += ((step_rate) >> 1) & 0xFFFC; table_address += ((step_rate) >> 1) & 0xFFFC;
timer = (uint16_t)pgm_read_word_near(table_address); timer = (uint16_t)pgm_read_word_near(table_address)
timer -= (((uint16_t)pgm_read_word_near(table_address + 2) * (uint8_t)(step_rate & 0x0007)) >> 3); - (((uint16_t)pgm_read_word_near(table_address + 2) * (uint8_t)(step_rate & 0x0007)) >> 3);
} }
if (timer < 100) { // (20kHz - this should never happen) if (timer < 100) { // (20kHz - this should never happen)
timer = 100; timer = 100;

12
Marlin/src/module/temperature.cpp
View file

@ -25,6 +25,7 @@
*/ */
#include "temperature.h" #include "temperature.h"
#include "endstops.h"
#include "../Marlin.h" #include "../Marlin.h"
#include "../lcd/ultralcd.h" #include "../lcd/ultralcd.h"
@ -1725,6 +1726,7 @@ void Temperature::set_current_temp_raw() {
* - Step the babysteps value for each axis towards 0 * - Step the babysteps value for each axis towards 0
* - For PINS_DEBUGGING, monitor and report endstop pins * - For PINS_DEBUGGING, monitor and report endstop pins
* - For ENDSTOP_INTERRUPTS_FEATURE check endstops if flagged * - For ENDSTOP_INTERRUPTS_FEATURE check endstops if flagged
* - Call planner.tick to count down its "ignore" time
*/ */
HAL_TEMP_TIMER_ISR { HAL_TEMP_TIMER_ISR {
HAL_timer_isr_prologue(TEMP_TIMER_NUM); HAL_timer_isr_prologue(TEMP_TIMER_NUM);
@ -2249,15 +2251,19 @@ void Temperature::isr() {
endstops.run_monitor(); // report changes in endstop status endstops.run_monitor(); // report changes in endstop status
#endif #endif
// Update endstops state, if enabled
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
extern volatile uint8_t e_hit; extern volatile uint8_t e_hit;
if (e_hit && ENDSTOPS_ENABLED) { if (e_hit && ENDSTOPS_ENABLED) {
endstops.update(); // call endstop update routine endstops.update();
e_hit--; e_hit--;
} }
#else
if (ENDSTOPS_ENABLED) endstops.update();
#endif #endif
// Periodically call the planner timer
planner.tick();
} }
#if HAS_TEMP_SENSOR #if HAS_TEMP_SENSOR

3
Marlin/src/sd/cardreader.cpp
View file

@ -29,7 +29,6 @@
#include "../Marlin.h" #include "../Marlin.h"
#include "../lcd/ultralcd.h" #include "../lcd/ultralcd.h"
#include "../module/planner.h" #include "../module/planner.h"
#include "../module/stepper.h"
#include "../module/printcounter.h" #include "../module/printcounter.h"
#include "../core/language.h" #include "../core/language.h"
#include "../gcode/queue.h" #include "../gcode/queue.h"
@ -983,7 +982,7 @@ void CardReader::printingHasFinished() {
#endif #endif
#if ENABLED(SD_FINISHED_STEPPERRELEASE) && defined(SD_FINISHED_RELEASECOMMAND) #if ENABLED(SD_FINISHED_STEPPERRELEASE) && defined(SD_FINISHED_RELEASECOMMAND)
stepper.cleaning_buffer_counter = 1; // The command will fire from the Stepper ISR planner.finish_and_disable();
#endif #endif
print_job_timer.stop(); print_job_timer.stop();
if (print_job_timer.duration() > 60) if (print_job_timer.duration() > 60)