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-
-
-
-
- #include "planner.h"
- #include "stepper.h"
- #include "temperature.h"
- #include "ultralcd.h"
- #include "language.h"
-
- #include "Marlin.h"
-
- #if ENABLED(MESH_BED_LEVELING)
- #include "mesh_bed_leveling.h"
- #endif
-
- Planner planner;
-
-
-
-
- block_t Planner::block_buffer[BLOCK_BUFFER_SIZE];
- volatile uint8_t Planner::block_buffer_head = 0,
- Planner::block_buffer_tail = 0;
-
- float Planner::max_feedrate_mm_s[XYZE_N],
- Planner::axis_steps_per_mm[XYZE_N],
- Planner::steps_to_mm[XYZE_N];
-
- #if ENABLED(DISTINCT_E_FACTORS)
- uint8_t Planner::last_extruder = 0;
- #endif
-
- uint32_t Planner::max_acceleration_steps_per_s2[XYZE_N],
- Planner::max_acceleration_mm_per_s2[XYZE_N];
-
- millis_t Planner::min_segment_time;
- float Planner::min_feedrate_mm_s,
- Planner::acceleration,
- Planner::retract_acceleration,
- Planner::travel_acceleration,
- Planner::max_jerk[XYZE],
- Planner::min_travel_feedrate_mm_s;
-
- #if HAS_ABL
- bool Planner::abl_enabled = false;
- #endif
-
- #if ABL_PLANAR
- matrix_3x3 Planner::bed_level_matrix;
- #endif
-
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- float Planner::z_fade_height = 0.0,
- Planner::inverse_z_fade_height = 0.0;
- #endif
-
- #if ENABLED(AUTOTEMP)
- float Planner::autotemp_max = 250,
- Planner::autotemp_min = 210,
- Planner::autotemp_factor = 0.1;
- bool Planner::autotemp_enabled = false;
- #endif
-
-
-
- long Planner::position[NUM_AXIS] = { 0 };
-
- uint32_t Planner::cutoff_long;
-
- float Planner::previous_speed[NUM_AXIS],
- Planner::previous_nominal_speed;
-
- #if ENABLED(DISABLE_INACTIVE_EXTRUDER)
- uint8_t Planner::g_uc_extruder_last_move[EXTRUDERS] = { 0 };
- #endif
-
- #ifdef XY_FREQUENCY_LIMIT
-
- unsigned char Planner::old_direction_bits = 0;
-
- long Planner::axis_segment_time[2][3] = { {MAX_FREQ_TIME + 1, 0, 0}, {MAX_FREQ_TIME + 1, 0, 0} };
- #endif
-
- #if ENABLED(LIN_ADVANCE)
- float Planner::extruder_advance_k = LIN_ADVANCE_K,
- Planner::advance_ed_ratio = LIN_ADVANCE_E_D_RATIO,
- Planner::position_float[NUM_AXIS] = { 0 };
- #endif
-
- #if ENABLED(ULTRA_LCD)
- volatile uint32_t Planner::block_buffer_runtime_us = 0;
- #endif
-
-
-
- Planner::Planner() { init(); }
-
- void Planner::init() {
- block_buffer_head = block_buffer_tail = 0;
- ZERO(position);
- #if ENABLED(LIN_ADVANCE)
- ZERO(position_float);
- #endif
- ZERO(previous_speed);
- previous_nominal_speed = 0.0;
- #if ABL_PLANAR
- bed_level_matrix.set_to_identity();
- #endif
- }
-
- #define MINIMAL_STEP_RATE 120
-
-
- void Planner::calculate_trapezoid_for_block(block_t* const block, const float &entry_factor, const float &exit_factor) {
- uint32_t initial_rate = ceil(block->nominal_rate * entry_factor),
- final_rate = ceil(block->nominal_rate * exit_factor);
-
-
- NOLESS(initial_rate, MINIMAL_STEP_RATE);
- NOLESS(final_rate, MINIMAL_STEP_RATE);
-
- int32_t accel = block->acceleration_steps_per_s2,
- accelerate_steps = ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)),
- decelerate_steps = floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -accel)),
- plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps;
-
-
-
-
- if (plateau_steps < 0) {
- accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, accel, block->step_event_count));
- NOLESS(accelerate_steps, 0);
- accelerate_steps = min((uint32_t)accelerate_steps, block->step_event_count);
- plateau_steps = 0;
- }
-
-
-
-
- CRITICAL_SECTION_START;
- if (!TEST(block->flag, BLOCK_BIT_BUSY)) {
- block->accelerate_until = accelerate_steps;
- block->decelerate_after = accelerate_steps + plateau_steps;
- block->initial_rate = initial_rate;
- block->final_rate = final_rate;
- #if ENABLED(ADVANCE)
- block->initial_advance = block->advance * sq(entry_factor);
- block->final_advance = block->advance * sq(exit_factor);
- #endif
- }
- CRITICAL_SECTION_END;
- }
-
-
-
-
-
-
-
-
-
-
-
- void Planner::reverse_pass_kernel(block_t* const current, const block_t *next) {
- if (!current || !next) return;
-
-
-
- float max_entry_speed = current->max_entry_speed;
- if (current->entry_speed != max_entry_speed) {
-
-
- current->entry_speed = (TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH) || max_entry_speed <= next->entry_speed)
- ? max_entry_speed
- : min(max_entry_speed, max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
- SBI(current->flag, BLOCK_BIT_RECALCULATE);
- }
- }
-
-
- void Planner::reverse_pass() {
-
- if (movesplanned() > 3) {
-
- block_t* block[3] = { NULL, NULL, NULL };
-
-
-
-
- uint8_t tail = block_buffer_tail;
-
-
- uint8_t b = BLOCK_MOD(block_buffer_head - 3);
- while (b != tail) {
- if (block[0] && TEST(block[0]->flag, BLOCK_BIT_START_FROM_FULL_HALT)) break;
- b = prev_block_index(b);
- block[2] = block[1];
- block[1] = block[0];
- block[0] = &block_buffer[b];
- reverse_pass_kernel(block[1], block[2]);
- }
- }
- }
-
-
- void Planner::forward_pass_kernel(const block_t* previous, block_t* const current) {
- if (!previous) return;
-
-
-
-
-
- if (!TEST(previous->flag, BLOCK_BIT_NOMINAL_LENGTH)) {
- if (previous->entry_speed < current->entry_speed) {
- float entry_speed = min(current->entry_speed,
- max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters));
-
- if (current->entry_speed != entry_speed) {
- current->entry_speed = entry_speed;
- SBI(current->flag, BLOCK_BIT_RECALCULATE);
- }
- }
- }
- }
-
-
- void Planner::forward_pass() {
- block_t* block[3] = { NULL, NULL, NULL };
-
- for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
- block[0] = block[1];
- block[1] = block[2];
- block[2] = &block_buffer[b];
- forward_pass_kernel(block[0], block[1]);
- }
- forward_pass_kernel(block[1], block[2]);
- }
-
-
- void Planner::recalculate_trapezoids() {
- int8_t block_index = block_buffer_tail;
- block_t *current, *next = NULL;
-
- while (block_index != block_buffer_head) {
- current = next;
- next = &block_buffer[block_index];
- if (current) {
-
- if (TEST(current->flag, BLOCK_BIT_RECALCULATE) || TEST(next->flag, BLOCK_BIT_RECALCULATE)) {
-
- float nom = current->nominal_speed;
- calculate_trapezoid_for_block(current, current->entry_speed / nom, next->entry_speed / nom);
- CBI(current->flag, BLOCK_BIT_RECALCULATE);
- }
- }
- block_index = next_block_index(block_index);
- }
-
- if (next) {
- float nom = next->nominal_speed;
- calculate_trapezoid_for_block(next, next->entry_speed / nom, (MINIMUM_PLANNER_SPEED) / nom);
- CBI(next->flag, BLOCK_BIT_RECALCULATE);
- }
- }
-
-
- void Planner::recalculate() {
- reverse_pass();
- forward_pass();
- recalculate_trapezoids();
- }
-
-
- #if ENABLED(AUTOTEMP)
-
- void Planner::getHighESpeed() {
- static float oldt = 0;
-
- if (!autotemp_enabled) return;
- if (thermalManager.degTargetHotend(0) + 2 < autotemp_min) return;
-
- float high = 0.0;
- for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
- block_t* block = &block_buffer[b];
- if (block->steps[X_AXIS] || block->steps[Y_AXIS] || block->steps[Z_AXIS]) {
- float se = (float)block->steps[E_AXIS] / block->step_event_count * block->nominal_speed;
- NOLESS(high, se);
- }
- }
-
- float t = autotemp_min + high * autotemp_factor;
- t = constrain(t, autotemp_min, autotemp_max);
- if (oldt > t) {
- t *= (1 - (AUTOTEMP_OLDWEIGHT));
- t += (AUTOTEMP_OLDWEIGHT) * oldt;
- }
- oldt = t;
- thermalManager.setTargetHotend(t, 0);
- }
-
- #endif
-
-
- void Planner::check_axes_activity() {
- unsigned char axis_active[NUM_AXIS] = { 0 },
- tail_fan_speed[FAN_COUNT];
-
- #if FAN_COUNT > 0
- for (uint8_t i = 0; i < FAN_COUNT; i++) tail_fan_speed[i] = fanSpeeds[i];
- #endif
-
- #if ENABLED(BARICUDA)
- #if HAS_HEATER_1
- unsigned char tail_valve_pressure = baricuda_valve_pressure;
- #endif
- #if HAS_HEATER_2
- unsigned char tail_e_to_p_pressure = baricuda_e_to_p_pressure;
- #endif
- #endif
-
- if (blocks_queued()) {
-
- #if FAN_COUNT > 0
- for (uint8_t i = 0; i < FAN_COUNT; i++) tail_fan_speed[i] = block_buffer[block_buffer_tail].fan_speed[i];
- #endif
-
- block_t* block;
-
- #if ENABLED(BARICUDA)
- block = &block_buffer[block_buffer_tail];
- #if HAS_HEATER_1
- tail_valve_pressure = block->valve_pressure;
- #endif
- #if HAS_HEATER_2
- tail_e_to_p_pressure = block->e_to_p_pressure;
- #endif
- #endif
-
- for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
- block = &block_buffer[b];
- LOOP_XYZE(i) if (block->steps[i]) axis_active[i]++;
- }
- }
- #if ENABLED(DISABLE_X)
- if (!axis_active[X_AXIS]) disable_x();
- #endif
- #if ENABLED(DISABLE_Y)
- if (!axis_active[Y_AXIS]) disable_y();
- #endif
- #if ENABLED(DISABLE_Z)
- if (!axis_active[Z_AXIS]) disable_z();
- #endif
- #if ENABLED(DISABLE_E)
- if (!axis_active[E_AXIS]) disable_e_steppers();
- #endif
-
- #if FAN_COUNT > 0
-
- #if defined(FAN_MIN_PWM)
- #define CALC_FAN_SPEED(f) (tail_fan_speed[f] ? ( FAN_MIN_PWM + (tail_fan_speed[f] * (255 - FAN_MIN_PWM)) / 255 ) : 0)
- #else
- #define CALC_FAN_SPEED(f) tail_fan_speed[f]
- #endif
-
- #ifdef FAN_KICKSTART_TIME
-
- static millis_t fan_kick_end[FAN_COUNT] = { 0 };
-
- #define KICKSTART_FAN(f) \
- if (tail_fan_speed[f]) { \
- millis_t ms = millis(); \
- if (fan_kick_end[f] == 0) { \
- fan_kick_end[f] = ms + FAN_KICKSTART_TIME; \
- tail_fan_speed[f] = 255; \
- } else { \
- if (PENDING(ms, fan_kick_end[f])) { \
- tail_fan_speed[f] = 255; \
- } \
- } \
- } else { \
- fan_kick_end[f] = 0; \
- }
-
- #if HAS_FAN0
- KICKSTART_FAN(0);
- #endif
- #if HAS_FAN1
- KICKSTART_FAN(1);
- #endif
- #if HAS_FAN2
- KICKSTART_FAN(2);
- #endif
-
- #endif
-
- #if ENABLED(FAN_SOFT_PWM)
- #if HAS_FAN0
- thermalManager.fanSpeedSoftPwm[0] = CALC_FAN_SPEED(0);
- #endif
- #if HAS_FAN1
- thermalManager.fanSpeedSoftPwm[1] = CALC_FAN_SPEED(1);
- #endif
- #if HAS_FAN2
- thermalManager.fanSpeedSoftPwm[2] = CALC_FAN_SPEED(2);
- #endif
- #else
- #if HAS_FAN0
- analogWrite(FAN_PIN, CALC_FAN_SPEED(0));
- #endif
- #if HAS_FAN1
- analogWrite(FAN1_PIN, CALC_FAN_SPEED(1));
- #endif
- #if HAS_FAN2
- analogWrite(FAN2_PIN, CALC_FAN_SPEED(2));
- #endif
- #endif
-
- #endif
-
- #if ENABLED(AUTOTEMP)
- getHighESpeed();
- #endif
-
- #if ENABLED(BARICUDA)
- #if HAS_HEATER_1
- analogWrite(HEATER_1_PIN, tail_valve_pressure);
- #endif
- #if HAS_HEATER_2
- analogWrite(HEATER_2_PIN, tail_e_to_p_pressure);
- #endif
- #endif
- }
-
- #if PLANNER_LEVELING
-
-
- void Planner::apply_leveling(float &lx, float &ly, float &lz) {
-
- #if HAS_ABL
- if (!abl_enabled) return;
- #endif
-
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- static float z_fade_factor = 1.0, last_raw_lz = -999.0;
- if (z_fade_height) {
- const float raw_lz = RAW_Z_POSITION(lz);
- if (raw_lz >= z_fade_height) return;
- if (last_raw_lz != raw_lz) {
- last_raw_lz = raw_lz;
- z_fade_factor = 1.0 - raw_lz * inverse_z_fade_height;
- }
- }
- else
- z_fade_factor = 1.0;
- #endif
-
- #if ENABLED(MESH_BED_LEVELING)
-
- if (mbl.active())
- lz += mbl.get_z(RAW_X_POSITION(lx), RAW_Y_POSITION(ly)
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- , z_fade_factor
- #endif
- );
-
- #elif ABL_PLANAR
-
- float dx = RAW_X_POSITION(lx) - (X_TILT_FULCRUM),
- dy = RAW_Y_POSITION(ly) - (Y_TILT_FULCRUM),
- dz = RAW_Z_POSITION(lz);
-
- apply_rotation_xyz(bed_level_matrix, dx, dy, dz);
-
- lx = LOGICAL_X_POSITION(dx + X_TILT_FULCRUM);
- ly = LOGICAL_Y_POSITION(dy + Y_TILT_FULCRUM);
- lz = LOGICAL_Z_POSITION(dz);
-
- #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
-
- float tmp[XYZ] = { lx, ly, 0 };
- lz += bilinear_z_offset(tmp)
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- * z_fade_factor
- #endif
- ;
-
- #endif
- }
-
- void Planner::unapply_leveling(float logical[XYZ]) {
-
- #if HAS_ABL
- if (!abl_enabled) return;
- #endif
-
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- if (z_fade_height && RAW_Z_POSITION(logical[Z_AXIS]) >= z_fade_height) return;
- #endif
-
- #if ENABLED(MESH_BED_LEVELING)
-
- if (mbl.active()) {
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- const float c = mbl.get_z(RAW_X_POSITION(logical[X_AXIS]), RAW_Y_POSITION(logical[Y_AXIS]), 1.0);
- logical[Z_AXIS] = (z_fade_height * (RAW_Z_POSITION(logical[Z_AXIS]) - c)) / (z_fade_height - c);
- #else
- logical[Z_AXIS] -= mbl.get_z(RAW_X_POSITION(logical[X_AXIS]), RAW_Y_POSITION(logical[Y_AXIS]));
- #endif
- }
-
- #elif ABL_PLANAR
-
- matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
-
- float dx = RAW_X_POSITION(logical[X_AXIS]) - (X_TILT_FULCRUM),
- dy = RAW_Y_POSITION(logical[Y_AXIS]) - (Y_TILT_FULCRUM),
- dz = RAW_Z_POSITION(logical[Z_AXIS]);
-
- apply_rotation_xyz(inverse, dx, dy, dz);
-
- logical[X_AXIS] = LOGICAL_X_POSITION(dx + X_TILT_FULCRUM);
- logical[Y_AXIS] = LOGICAL_Y_POSITION(dy + Y_TILT_FULCRUM);
- logical[Z_AXIS] = LOGICAL_Z_POSITION(dz);
-
- #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
-
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- const float c = bilinear_z_offset(logical);
- logical[Z_AXIS] = (z_fade_height * (RAW_Z_POSITION(logical[Z_AXIS]) - c)) / (z_fade_height - c);
- #else
- logical[Z_AXIS] -= bilinear_z_offset(logical);
- #endif
-
- #endif
- }
-
- #endif
-
-
- void Planner::_buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder) {
-
-
-
-
- const long target[XYZE] = {
- lround(a * axis_steps_per_mm[X_AXIS]),
- lround(b * axis_steps_per_mm[Y_AXIS]),
- lround(c * axis_steps_per_mm[Z_AXIS]),
- lround(e * axis_steps_per_mm[E_AXIS_N])
- };
-
-
- #if ENABLED(DISTINCT_E_FACTORS)
- if (last_extruder != extruder && axis_steps_per_mm[E_AXIS_N] != axis_steps_per_mm[E_AXIS + last_extruder]) {
- position[E_AXIS] = lround(position[E_AXIS] * axis_steps_per_mm[E_AXIS_N] * steps_to_mm[E_AXIS + last_extruder]);
- last_extruder = extruder;
- }
- #endif
-
- #if ENABLED(LIN_ADVANCE)
- const float mm_D_float = sqrt(sq(a - position_float[X_AXIS]) + sq(b - position_float[Y_AXIS]));
- #endif
-
- const long da = target[X_AXIS] - position[X_AXIS],
- db = target[Y_AXIS] - position[Y_AXIS],
- dc = target[Z_AXIS] - position[Z_AXIS];
-
-
-
-
-
- if (DEBUGGING(DRYRUN)) {
- position[E_AXIS] = target[E_AXIS];
- #if ENABLED(LIN_ADVANCE)
- position_float[E_AXIS] = e;
- #endif
- }
-
- long de = target[E_AXIS] - position[E_AXIS];
-
- #if ENABLED(LIN_ADVANCE)
- float de_float = e - position_float[E_AXIS];
- #endif
-
- #if ENABLED(PREVENT_COLD_EXTRUSION)
- if (de) {
- if (thermalManager.tooColdToExtrude(extruder)) {
- position[E_AXIS] = target[E_AXIS];
- de = 0;
- #if ENABLED(LIN_ADVANCE)
- position_float[E_AXIS] = e;
- de_float = 0;
- #endif
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
- }
- #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
- if (labs(de) > (int32_t)axis_steps_per_mm[E_AXIS_N] * (EXTRUDE_MAXLENGTH)) {
- position[E_AXIS] = target[E_AXIS];
- de = 0;
- #if ENABLED(LIN_ADVANCE)
- position_float[E_AXIS] = e;
- de_float = 0;
- #endif
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
- }
- #endif
- }
- #endif
-
-
- uint8_t dm = 0;
- #if CORE_IS_XY
- if (da < 0) SBI(dm, X_HEAD);
- if (db < 0) SBI(dm, Y_HEAD);
- if (dc < 0) SBI(dm, Z_AXIS);
- if (da + db < 0) SBI(dm, A_AXIS);
- if (CORESIGN(da - db) < 0) SBI(dm, B_AXIS);
- #elif CORE_IS_XZ
- if (da < 0) SBI(dm, X_HEAD);
- if (db < 0) SBI(dm, Y_AXIS);
- if (dc < 0) SBI(dm, Z_HEAD);
- if (da + dc < 0) SBI(dm, A_AXIS);
- if (CORESIGN(da - dc) < 0) SBI(dm, C_AXIS);
- #elif CORE_IS_YZ
- if (da < 0) SBI(dm, X_AXIS);
- if (db < 0) SBI(dm, Y_HEAD);
- if (dc < 0) SBI(dm, Z_HEAD);
- if (db + dc < 0) SBI(dm, B_AXIS);
- if (CORESIGN(db - dc) < 0) SBI(dm, C_AXIS);
- #else
- if (da < 0) SBI(dm, X_AXIS);
- if (db < 0) SBI(dm, Y_AXIS);
- if (dc < 0) SBI(dm, Z_AXIS);
- #endif
- if (de < 0) SBI(dm, E_AXIS);
-
- const float esteps_float = de * volumetric_multiplier[extruder] * flow_percentage[extruder] * 0.01;
- const int32_t esteps = abs(esteps_float) + 0.5;
-
-
- const uint8_t next_buffer_head = next_block_index(block_buffer_head);
-
-
-
- while (block_buffer_tail == next_buffer_head) idle();
-
-
- block_t* block = &block_buffer[block_buffer_head];
-
-
- block->flag = 0;
-
-
- block->direction_bits = dm;
-
-
-
- #if CORE_IS_XY
- block->steps[A_AXIS] = labs(da + db);
- block->steps[B_AXIS] = labs(da - db);
- block->steps[Z_AXIS] = labs(dc);
- #elif CORE_IS_XZ
- block->steps[A_AXIS] = labs(da + dc);
- block->steps[Y_AXIS] = labs(db);
- block->steps[C_AXIS] = labs(da - dc);
- #elif CORE_IS_YZ
- block->steps[X_AXIS] = labs(da);
- block->steps[B_AXIS] = labs(db + dc);
- block->steps[C_AXIS] = labs(db - dc);
- #else
-
- block->steps[X_AXIS] = labs(da);
- block->steps[Y_AXIS] = labs(db);
- block->steps[Z_AXIS] = labs(dc);
- #endif
-
- block->steps[E_AXIS] = esteps;
- block->step_event_count = MAX4(block->steps[X_AXIS], block->steps[Y_AXIS], block->steps[Z_AXIS], esteps);
-
-
- if (block->step_event_count < MIN_STEPS_PER_SEGMENT) return;
-
-
- #if ENABLED(MIXING_EXTRUDER)
- for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
- block->mix_event_count[i] = mixing_factor[i] * block->step_event_count;
- #endif
-
- #if FAN_COUNT > 0
- for (uint8_t i = 0; i < FAN_COUNT; i++) block->fan_speed[i] = fanSpeeds[i];
- #endif
-
- #if ENABLED(BARICUDA)
- block->valve_pressure = baricuda_valve_pressure;
- block->e_to_p_pressure = baricuda_e_to_p_pressure;
- #endif
-
- block->active_extruder = extruder;
-
-
- #if CORE_IS_XY
- if (block->steps[A_AXIS] || block->steps[B_AXIS]) {
- enable_x();
- enable_y();
- }
- #if DISABLED(Z_LATE_ENABLE)
- if (block->steps[Z_AXIS]) enable_z();
- #endif
- #elif CORE_IS_XZ
- if (block->steps[A_AXIS] || block->steps[C_AXIS]) {
- enable_x();
- enable_z();
- }
- if (block->steps[Y_AXIS]) enable_y();
- #elif CORE_IS_YZ
- if (block->steps[B_AXIS] || block->steps[C_AXIS]) {
- enable_y();
- enable_z();
- }
- if (block->steps[X_AXIS]) enable_x();
- #else
- if (block->steps[X_AXIS]) enable_x();
- if (block->steps[Y_AXIS]) enable_y();
- #if DISABLED(Z_LATE_ENABLE)
- if (block->steps[Z_AXIS]) enable_z();
- #endif
- #endif
-
-
- if (esteps) {
-
- #if ENABLED(DISABLE_INACTIVE_EXTRUDER)
-
- for (uint8_t i = 0; i < EXTRUDERS; i++)
- if (g_uc_extruder_last_move[i] > 0) g_uc_extruder_last_move[i]--;
-
- switch(extruder) {
- case 0:
- enable_e0();
- #if ENABLED(DUAL_X_CARRIAGE)
- if (extruder_duplication_enabled) {
- enable_e1();
- g_uc_extruder_last_move[1] = (BLOCK_BUFFER_SIZE) * 2;
- }
- #endif
- g_uc_extruder_last_move[0] = (BLOCK_BUFFER_SIZE) * 2;
- #if EXTRUDERS > 1
- if (g_uc_extruder_last_move[1] == 0) disable_e1();
- #if EXTRUDERS > 2
- if (g_uc_extruder_last_move[2] == 0) disable_e2();
- #if EXTRUDERS > 3
- if (g_uc_extruder_last_move[3] == 0) disable_e3();
- #endif
- #endif
- #endif
- break;
- #if EXTRUDERS > 1
- case 1:
- enable_e1();
- g_uc_extruder_last_move[1] = (BLOCK_BUFFER_SIZE) * 2;
- if (g_uc_extruder_last_move[0] == 0) disable_e0();
- #if EXTRUDERS > 2
- if (g_uc_extruder_last_move[2] == 0) disable_e2();
- #if EXTRUDERS > 3
- if (g_uc_extruder_last_move[3] == 0) disable_e3();
- #endif
- #endif
- break;
- #if EXTRUDERS > 2
- case 2:
- enable_e2();
- g_uc_extruder_last_move[2] = (BLOCK_BUFFER_SIZE) * 2;
- if (g_uc_extruder_last_move[0] == 0) disable_e0();
- if (g_uc_extruder_last_move[1] == 0) disable_e1();
- #if EXTRUDERS > 3
- if (g_uc_extruder_last_move[3] == 0) disable_e3();
- #endif
- break;
- #if EXTRUDERS > 3
- case 3:
- enable_e3();
- g_uc_extruder_last_move[3] = (BLOCK_BUFFER_SIZE) * 2;
- if (g_uc_extruder_last_move[0] == 0) disable_e0();
- if (g_uc_extruder_last_move[1] == 0) disable_e1();
- if (g_uc_extruder_last_move[2] == 0) disable_e2();
- break;
- #endif
- #endif
- #endif
- }
- #else
- enable_e0();
- enable_e1();
- enable_e2();
- enable_e3();
- #endif
- }
-
- if (esteps)
- NOLESS(fr_mm_s, min_feedrate_mm_s);
- else
- NOLESS(fr_mm_s, min_travel_feedrate_mm_s);
-
-
-
- #if IS_CORE
- float delta_mm[7];
- #if CORE_IS_XY
- delta_mm[X_HEAD] = da * steps_to_mm[A_AXIS];
- delta_mm[Y_HEAD] = db * steps_to_mm[B_AXIS];
- delta_mm[Z_AXIS] = dc * steps_to_mm[Z_AXIS];
- delta_mm[A_AXIS] = (da + db) * steps_to_mm[A_AXIS];
- delta_mm[B_AXIS] = CORESIGN(da - db) * steps_to_mm[B_AXIS];
- #elif CORE_IS_XZ
- delta_mm[X_HEAD] = da * steps_to_mm[A_AXIS];
- delta_mm[Y_AXIS] = db * steps_to_mm[Y_AXIS];
- delta_mm[Z_HEAD] = dc * steps_to_mm[C_AXIS];
- delta_mm[A_AXIS] = (da + dc) * steps_to_mm[A_AXIS];
- delta_mm[C_AXIS] = CORESIGN(da - dc) * steps_to_mm[C_AXIS];
- #elif CORE_IS_YZ
- delta_mm[X_AXIS] = da * steps_to_mm[X_AXIS];
- delta_mm[Y_HEAD] = db * steps_to_mm[B_AXIS];
- delta_mm[Z_HEAD] = dc * steps_to_mm[C_AXIS];
- delta_mm[B_AXIS] = (db + dc) * steps_to_mm[B_AXIS];
- delta_mm[C_AXIS] = CORESIGN(db - dc) * steps_to_mm[C_AXIS];
- #endif
- #else
- float delta_mm[4];
- delta_mm[X_AXIS] = da * steps_to_mm[X_AXIS];
- delta_mm[Y_AXIS] = db * steps_to_mm[Y_AXIS];
- delta_mm[Z_AXIS] = dc * steps_to_mm[Z_AXIS];
- #endif
- delta_mm[E_AXIS] = esteps_float * steps_to_mm[E_AXIS_N];
-
- if (block->steps[X_AXIS] < MIN_STEPS_PER_SEGMENT && block->steps[Y_AXIS] < MIN_STEPS_PER_SEGMENT && block->steps[Z_AXIS] < MIN_STEPS_PER_SEGMENT) {
- block->millimeters = fabs(delta_mm[E_AXIS]);
- }
- else {
- block->millimeters = sqrt(
- #if CORE_IS_XY
- sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_AXIS])
- #elif CORE_IS_XZ
- sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_HEAD])
- #elif CORE_IS_YZ
- sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_HEAD])
- #else
- sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_AXIS])
- #endif
- );
- }
- float inverse_millimeters = 1.0 / block->millimeters;
-
-
- float inverse_mm_s = fr_mm_s * inverse_millimeters;
-
- const uint8_t moves_queued = movesplanned();
-
-
- #if ENABLED(SLOWDOWN) || ENABLED(ULTRA_LCD) || defined(XY_FREQUENCY_LIMIT)
- unsigned long segment_time = lround(1000000.0 / inverse_mm_s);
- #endif
- #if ENABLED(SLOWDOWN)
-
- if (moves_queued > 1 && moves_queued < (BLOCK_BUFFER_SIZE) / 2) {
- if (segment_time < min_segment_time) {
-
- inverse_mm_s = 1000000.0 / (segment_time + lround(2 * (min_segment_time - segment_time) / moves_queued));
- #if defined(XY_FREQUENCY_LIMIT) || ENABLED(ULTRA_LCD)
- segment_time = lround(1000000.0 / inverse_mm_s);
- #endif
- }
- }
- #endif
-
- #if ENABLED(ULTRA_LCD)
- CRITICAL_SECTION_START
- block_buffer_runtime_us += segment_time;
- CRITICAL_SECTION_END
- #endif
-
- block->nominal_speed = block->millimeters * inverse_mm_s;
- block->nominal_rate = ceil(block->step_event_count * inverse_mm_s);
-
- #if ENABLED(FILAMENT_WIDTH_SENSOR)
- static float filwidth_e_count = 0, filwidth_delay_dist = 0;
-
-
- if (extruder == FILAMENT_SENSOR_EXTRUDER_NUM && filwidth_delay_index[1] >= 0) {
-
- const int MMD_CM = MAX_MEASUREMENT_DELAY + 1, MMD_MM = MMD_CM * 10;
-
-
- filwidth_e_count += delta_mm[E_AXIS];
- filwidth_delay_dist += delta_mm[E_AXIS];
-
-
- if (filwidth_e_count > 0.0001) {
-
-
- while (filwidth_delay_dist >= MMD_MM) filwidth_delay_dist -= MMD_MM;
-
-
- filwidth_delay_index[0] = (int)(filwidth_delay_dist * 0.1 + 0.0001);
-
-
- if (filwidth_delay_index[0] != filwidth_delay_index[1]) {
- filwidth_e_count = 0;
- const int8_t meas_sample = thermalManager.widthFil_to_size_ratio() - 100;
- do {
- filwidth_delay_index[1] = (filwidth_delay_index[1] + 1) % MMD_CM;
- measurement_delay[filwidth_delay_index[1]] = meas_sample;
- } while (filwidth_delay_index[0] != filwidth_delay_index[1]);
- }
- }
- }
- #endif
-
-
- float current_speed[NUM_AXIS], speed_factor = 1.0;
- LOOP_XYZE(i) {
- const float cs = fabs(current_speed[i] = delta_mm[i] * inverse_mm_s);
- #if ENABLED(DISTINCT_E_FACTORS)
- if (i == E_AXIS) i += extruder;
- #endif
- if (cs > max_feedrate_mm_s[i]) NOMORE(speed_factor, max_feedrate_mm_s[i] / cs);
- }
-
-
- #ifdef XY_FREQUENCY_LIMIT
-
-
- const unsigned char direction_change = block->direction_bits ^ old_direction_bits;
- old_direction_bits = block->direction_bits;
- segment_time = lround((float)segment_time / speed_factor);
-
- long xs0 = axis_segment_time[X_AXIS][0],
- xs1 = axis_segment_time[X_AXIS][1],
- xs2 = axis_segment_time[X_AXIS][2],
- ys0 = axis_segment_time[Y_AXIS][0],
- ys1 = axis_segment_time[Y_AXIS][1],
- ys2 = axis_segment_time[Y_AXIS][2];
-
- if (TEST(direction_change, X_AXIS)) {
- xs2 = axis_segment_time[X_AXIS][2] = xs1;
- xs1 = axis_segment_time[X_AXIS][1] = xs0;
- xs0 = 0;
- }
- xs0 = axis_segment_time[X_AXIS][0] = xs0 + segment_time;
-
- if (TEST(direction_change, Y_AXIS)) {
- ys2 = axis_segment_time[Y_AXIS][2] = axis_segment_time[Y_AXIS][1];
- ys1 = axis_segment_time[Y_AXIS][1] = axis_segment_time[Y_AXIS][0];
- ys0 = 0;
- }
- ys0 = axis_segment_time[Y_AXIS][0] = ys0 + segment_time;
-
- const long max_x_segment_time = MAX3(xs0, xs1, xs2),
- max_y_segment_time = MAX3(ys0, ys1, ys2),
- min_xy_segment_time = min(max_x_segment_time, max_y_segment_time);
- if (min_xy_segment_time < MAX_FREQ_TIME) {
- const float low_sf = speed_factor * min_xy_segment_time / (MAX_FREQ_TIME);
- NOMORE(speed_factor, low_sf);
- }
- #endif
-
-
- if (speed_factor < 1.0) {
- LOOP_XYZE(i) current_speed[i] *= speed_factor;
- block->nominal_speed *= speed_factor;
- block->nominal_rate *= speed_factor;
- }
-
-
- const float steps_per_mm = block->step_event_count * inverse_millimeters;
- uint32_t accel;
- if (!block->steps[X_AXIS] && !block->steps[Y_AXIS] && !block->steps[Z_AXIS]) {
-
- accel = ceil(retract_acceleration * steps_per_mm);
- }
- else {
- #define LIMIT_ACCEL_LONG(AXIS,INDX) do{ \
- if (block->steps[AXIS] && max_acceleration_steps_per_s2[AXIS+INDX] < accel) { \
- const uint32_t comp = max_acceleration_steps_per_s2[AXIS+INDX] * block->step_event_count; \
- if (accel * block->steps[AXIS] > comp) accel = comp / block->steps[AXIS]; \
- } \
- }while(0)
-
- #define LIMIT_ACCEL_FLOAT(AXIS,INDX) do{ \
- if (block->steps[AXIS] && max_acceleration_steps_per_s2[AXIS+INDX] < accel) { \
- const float comp = (float)max_acceleration_steps_per_s2[AXIS+INDX] * (float)block->step_event_count; \
- if ((float)accel * (float)block->steps[AXIS] > comp) accel = comp / (float)block->steps[AXIS]; \
- } \
- }while(0)
-
-
- accel = ceil((esteps ? acceleration : travel_acceleration) * steps_per_mm);
-
- #if ENABLED(DISTINCT_E_FACTORS)
- #define ACCEL_IDX extruder
- #else
- #define ACCEL_IDX 0
- #endif
-
-
- if (block->step_event_count <= cutoff_long) {
- LIMIT_ACCEL_LONG(X_AXIS,0);
- LIMIT_ACCEL_LONG(Y_AXIS,0);
- LIMIT_ACCEL_LONG(Z_AXIS,0);
- LIMIT_ACCEL_LONG(E_AXIS,ACCEL_IDX);
- }
- else {
- LIMIT_ACCEL_FLOAT(X_AXIS,0);
- LIMIT_ACCEL_FLOAT(Y_AXIS,0);
- LIMIT_ACCEL_FLOAT(Z_AXIS,0);
- LIMIT_ACCEL_FLOAT(E_AXIS,ACCEL_IDX);
- }
- }
- block->acceleration_steps_per_s2 = accel;
- block->acceleration = accel / steps_per_mm;
- block->acceleration_rate = (long)(accel * 16777216.0 / ((F_CPU) * 0.125));
-
-
- float vmax_junction;
-
- #if 0
-
- float junction_deviation = 0.1;
-
-
- double unit_vec[XYZ] = {
- delta_mm[X_AXIS] * inverse_millimeters,
- delta_mm[Y_AXIS] * inverse_millimeters,
- delta_mm[Z_AXIS] * inverse_millimeters
- };
-
-
-
-
- vmax_junction = MINIMUM_PLANNER_SPEED;
-
-
- if (block_buffer_head != block_buffer_tail && previous_nominal_speed > 0.0) {
-
-
- float cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
- - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
- - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
-
- if (cos_theta < 0.95) {
- vmax_junction = min(previous_nominal_speed, block->nominal_speed);
-
- if (cos_theta > -0.95) {
-
- float sin_theta_d2 = sqrt(0.5 * (1.0 - cos_theta));
- NOMORE(vmax_junction, sqrt(block->acceleration * junction_deviation * sin_theta_d2 / (1.0 - sin_theta_d2)));
- }
- }
- }
- #endif
-
-
-
-
-
- static float previous_safe_speed;
-
- float safe_speed = block->nominal_speed;
- uint8_t limited = 0;
- LOOP_XYZE(i) {
- const float jerk = fabs(current_speed[i]), maxj = max_jerk[i];
- if (jerk > maxj) {
- if (limited) {
- const float mjerk = maxj * block->nominal_speed;
- if (jerk * safe_speed > mjerk) safe_speed = mjerk / jerk;
- }
- else {
- ++limited;
- safe_speed = maxj;
- }
- }
- }
-
- if (moves_queued > 1 && previous_nominal_speed > 0.0001) {
-
-
-
-
-
- bool prev_speed_larger = previous_nominal_speed > block->nominal_speed;
- float smaller_speed_factor = prev_speed_larger ? (block->nominal_speed / previous_nominal_speed) : (previous_nominal_speed / block->nominal_speed);
-
- vmax_junction = prev_speed_larger ? block->nominal_speed : previous_nominal_speed;
-
- float v_factor = 1.f;
- limited = 0;
-
- LOOP_XYZE(axis) {
-
- float v_exit = previous_speed[axis], v_entry = current_speed[axis];
- if (prev_speed_larger) v_exit *= smaller_speed_factor;
- if (limited) {
- v_exit *= v_factor;
- v_entry *= v_factor;
- }
-
- const float jerk = (v_exit > v_entry)
- ?
- ( (v_entry > 0.f || v_exit < 0.f) ? (v_exit - v_entry) : max(v_exit, -v_entry) )
- :
- ( (v_entry < 0.f || v_exit > 0.f) ? (v_entry - v_exit) : max(-v_exit, v_entry) );
-
- if (jerk > max_jerk[axis]) {
- v_factor *= max_jerk[axis] / jerk;
- ++limited;
- }
- }
- if (limited) vmax_junction *= v_factor;
-
-
- const float vmax_junction_threshold = vmax_junction * 0.99f;
- if (previous_safe_speed > vmax_junction_threshold && safe_speed > vmax_junction_threshold) {
-
-
- SBI(block->flag, BLOCK_BIT_START_FROM_FULL_HALT);
- vmax_junction = safe_speed;
- }
- }
- else {
- SBI(block->flag, BLOCK_BIT_START_FROM_FULL_HALT);
- vmax_junction = safe_speed;
- }
-
-
- block->max_entry_speed = vmax_junction;
-
-
- const float v_allowable = max_allowable_speed(-block->acceleration, MINIMUM_PLANNER_SPEED, block->millimeters);
- block->entry_speed = min(vmax_junction, v_allowable);
-
-
-
-
-
-
-
-
-
- block->flag |= BLOCK_FLAG_RECALCULATE | (block->nominal_speed <= v_allowable ? BLOCK_FLAG_NOMINAL_LENGTH : 0);
-
-
- COPY(previous_speed, current_speed);
- previous_nominal_speed = block->nominal_speed;
- previous_safe_speed = safe_speed;
-
- #if ENABLED(LIN_ADVANCE)
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- block->use_advance_lead = esteps
- && (block->steps[X_AXIS] || block->steps[Y_AXIS])
- && extruder_advance_k
- && (uint32_t)esteps != block->step_event_count
- && de_float > 0.0;
- if (block->use_advance_lead)
- block->abs_adv_steps_multiplier8 = lround(
- extruder_advance_k
- * (UNEAR_ZERO(advance_ed_ratio) ? de_float / mm_D_float : advance_ed_ratio)
- * (block->nominal_speed / (float)block->nominal_rate)
- * axis_steps_per_mm[E_AXIS_N] * 256.0
- );
-
- #elif ENABLED(ADVANCE)
-
-
- if (esteps && (block->steps[X_AXIS] || block->steps[Y_AXIS] || block->steps[Z_AXIS])) {
- const long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_steps_per_s2);
- const float advance = ((STEPS_PER_CUBIC_MM_E) * (EXTRUDER_ADVANCE_K)) * HYPOT(current_speed[E_AXIS], EXTRUSION_AREA) * 256;
- block->advance = advance;
- block->advance_rate = acc_dist ? advance / (float)acc_dist : 0;
- }
- else
- block->advance_rate = block->advance = 0;
-
-
-
-
- #endif
-
- calculate_trapezoid_for_block(block, block->entry_speed / block->nominal_speed, safe_speed / block->nominal_speed);
-
-
- block_buffer_head = next_buffer_head;
-
-
- COPY(position, target);
- #if ENABLED(LIN_ADVANCE)
- position_float[X_AXIS] = a;
- position_float[Y_AXIS] = b;
- position_float[Z_AXIS] = c;
- position_float[E_AXIS] = e;
- #endif
-
- recalculate();
-
- stepper.wake_up();
-
- }
-
-
-
- void Planner::_set_position_mm(const float &a, const float &b, const float &c, const float &e) {
- #if ENABLED(DISTINCT_E_FACTORS)
- #define _EINDEX (E_AXIS + active_extruder)
- last_extruder = active_extruder;
- #else
- #define _EINDEX E_AXIS
- #endif
- long na = position[X_AXIS] = lround(a * axis_steps_per_mm[X_AXIS]),
- nb = position[Y_AXIS] = lround(b * axis_steps_per_mm[Y_AXIS]),
- nc = position[Z_AXIS] = lround(c * axis_steps_per_mm[Z_AXIS]),
- ne = position[E_AXIS] = lround(e * axis_steps_per_mm[_EINDEX]);
- #if ENABLED(LIN_ADVANCE)
- position_float[X_AXIS] = a;
- position_float[Y_AXIS] = b;
- position_float[Z_AXIS] = c;
- position_float[E_AXIS] = e;
- #endif
- stepper.set_position(na, nb, nc, ne);
- previous_nominal_speed = 0.0;
- ZERO(previous_speed);
- }
-
- void Planner::set_position_mm_kinematic(const float position[NUM_AXIS]) {
- #if PLANNER_LEVELING
- float lpos[XYZ] = { position[X_AXIS], position[Y_AXIS], position[Z_AXIS] };
- apply_leveling(lpos);
- #else
- const float * const lpos = position;
- #endif
- #if IS_KINEMATIC
- inverse_kinematics(lpos);
- _set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], position[E_AXIS]);
- #else
- _set_position_mm(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], position[E_AXIS]);
- #endif
- }
-
-
- void Planner::sync_from_steppers() {
- LOOP_XYZE(i) {
- position[i] = stepper.position((AxisEnum)i);
- #if ENABLED(LIN_ADVANCE)
- position_float[i] = position[i] * steps_to_mm[i
- #if ENABLED(DISTINCT_E_FACTORS)
- + (i == E_AXIS ? active_extruder : 0)
- #endif
- ];
- #endif
- }
- }
-
-
- void Planner::set_position_mm(const AxisEnum axis, const float& v) {
- #if ENABLED(DISTINCT_E_FACTORS)
- const uint8_t axis_index = axis + (axis == E_AXIS ? active_extruder : 0);
- last_extruder = active_extruder;
- #else
- const uint8_t axis_index = axis;
- #endif
- position[axis] = lround(v * axis_steps_per_mm[axis_index]);
- #if ENABLED(LIN_ADVANCE)
- position_float[axis] = v;
- #endif
- stepper.set_position(axis, v);
- previous_speed[axis] = 0.0;
- }
-
-
- void Planner::reset_acceleration_rates() {
- #if ENABLED(DISTINCT_E_FACTORS)
- #define HIGHEST_CONDITION (i < E_AXIS || i == E_AXIS + active_extruder)
- #else
- #define HIGHEST_CONDITION true
- #endif
- uint32_t highest_rate = 1;
- LOOP_XYZE_N(i) {
- max_acceleration_steps_per_s2[i] = max_acceleration_mm_per_s2[i] * axis_steps_per_mm[i];
- if (HIGHEST_CONDITION) NOLESS(highest_rate, max_acceleration_steps_per_s2[i]);
- }
- cutoff_long = 4294967295UL / highest_rate;
- }
-
-
- void Planner::refresh_positioning() {
- LOOP_XYZE_N(i) steps_to_mm[i] = 1.0 / axis_steps_per_mm[i];
- set_position_mm_kinematic(current_position);
- reset_acceleration_rates();
- }
-
- #if ENABLED(AUTOTEMP)
-
- void Planner::autotemp_M104_M109() {
- autotemp_enabled = code_seen('F');
- if (autotemp_enabled) autotemp_factor = code_value_temp_diff();
- if (code_seen('S')) autotemp_min = code_value_temp_abs();
- if (code_seen('B')) autotemp_max = code_value_temp_abs();
- }
-
- #endif
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