Merge pull request #4997 from thinkyhead/rc_jerk_from_mk2
Adapt Jerk / Speed code from Prusa MK2
This commit is contained in:
commit
0921c7da84
@ -85,8 +85,8 @@ float Planner::max_feedrate_mm_s[NUM_AXIS], // Max speeds in mm per second
|
|||||||
Planner::axis_steps_per_mm[NUM_AXIS],
|
Planner::axis_steps_per_mm[NUM_AXIS],
|
||||||
Planner::steps_to_mm[NUM_AXIS];
|
Planner::steps_to_mm[NUM_AXIS];
|
||||||
|
|
||||||
unsigned long Planner::max_acceleration_steps_per_s2[NUM_AXIS],
|
uint32_t Planner::max_acceleration_steps_per_s2[NUM_AXIS],
|
||||||
Planner::max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
|
Planner::max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
|
||||||
|
|
||||||
millis_t Planner::min_segment_time;
|
millis_t Planner::min_segment_time;
|
||||||
float Planner::min_feedrate_mm_s,
|
float Planner::min_feedrate_mm_s,
|
||||||
@ -145,17 +145,19 @@ void Planner::init() {
|
|||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#define MINIMAL_STEP_RATE 120
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Calculate trapezoid parameters, multiplying the entry- and exit-speeds
|
* Calculate trapezoid parameters, multiplying the entry- and exit-speeds
|
||||||
* by the provided factors.
|
* by the provided factors.
|
||||||
*/
|
*/
|
||||||
void Planner::calculate_trapezoid_for_block(block_t* block, float entry_factor, 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)
|
||||||
|
|
||||||
// Limit minimal step rate (Otherwise the timer will overflow.)
|
// Limit minimal step rate (Otherwise the timer will overflow.)
|
||||||
NOLESS(initial_rate, 120);
|
NOLESS(initial_rate, MINIMAL_STEP_RATE);
|
||||||
NOLESS(final_rate, 120);
|
NOLESS(final_rate, MINIMAL_STEP_RATE);
|
||||||
|
|
||||||
int32_t accel = block->acceleration_steps_per_s2,
|
int32_t accel = block->acceleration_steps_per_s2,
|
||||||
accelerate_steps = ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)),
|
accelerate_steps = ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)),
|
||||||
@ -172,13 +174,9 @@ void Planner::calculate_trapezoid_for_block(block_t* block, float entry_factor,
|
|||||||
plateau_steps = 0;
|
plateau_steps = 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
#if ENABLED(ADVANCE)
|
|
||||||
volatile int32_t initial_advance = block->advance * sq(entry_factor),
|
|
||||||
final_advance = block->advance * sq(exit_factor);
|
|
||||||
#endif // ADVANCE
|
|
||||||
|
|
||||||
// block->accelerate_until = accelerate_steps;
|
// block->accelerate_until = accelerate_steps;
|
||||||
// block->decelerate_after = accelerate_steps+plateau_steps;
|
// block->decelerate_after = accelerate_steps+plateau_steps;
|
||||||
|
|
||||||
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
|
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
|
||||||
if (!block->busy) { // Don't update variables if block is busy.
|
if (!block->busy) { // Don't update variables if block is busy.
|
||||||
block->accelerate_until = accelerate_steps;
|
block->accelerate_until = accelerate_steps;
|
||||||
@ -186,8 +184,8 @@ void Planner::calculate_trapezoid_for_block(block_t* block, float entry_factor,
|
|||||||
block->initial_rate = initial_rate;
|
block->initial_rate = initial_rate;
|
||||||
block->final_rate = final_rate;
|
block->final_rate = final_rate;
|
||||||
#if ENABLED(ADVANCE)
|
#if ENABLED(ADVANCE)
|
||||||
block->initial_advance = initial_advance;
|
block->initial_advance = block->advance * sq(entry_factor);
|
||||||
block->final_advance = final_advance;
|
block->final_advance = block->advance * sq(exit_factor);
|
||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
CRITICAL_SECTION_END;
|
CRITICAL_SECTION_END;
|
||||||
@ -203,29 +201,20 @@ void Planner::calculate_trapezoid_for_block(block_t* block, float entry_factor,
|
|||||||
|
|
||||||
|
|
||||||
// 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* current, block_t* next) {
|
void Planner::reverse_pass_kernel(block_t* const current, const block_t *next) {
|
||||||
if (!current) return;
|
if (!current || !next) return;
|
||||||
|
// If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
|
||||||
if (next) {
|
// If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
|
||||||
// If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
|
// check for maximum allowable speed reductions to ensure maximum possible planned speed.
|
||||||
// If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
|
float max_entry_speed = current->max_entry_speed;
|
||||||
// check for maximum allowable speed reductions to ensure maximum possible planned speed.
|
if (current->entry_speed != max_entry_speed) {
|
||||||
float max_entry_speed = current->max_entry_speed;
|
// If nominal length true, max junction speed is guaranteed to be reached. Only compute
|
||||||
if (current->entry_speed != max_entry_speed) {
|
// for max allowable speed if block is decelerating and nominal length is false.
|
||||||
|
current->entry_speed = ((current->flag & BLOCK_FLAG_NOMINAL_LENGTH) || max_entry_speed <= next->entry_speed)
|
||||||
// If nominal length true, max junction speed is guaranteed to be reached. Only compute
|
? max_entry_speed
|
||||||
// for max allowable speed if block is decelerating and nominal length is false.
|
: min(max_entry_speed, max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
|
||||||
if (!current->nominal_length_flag && max_entry_speed > next->entry_speed) {
|
current->flag |= BLOCK_FLAG_RECALCULATE;
|
||||||
current->entry_speed = min(max_entry_speed,
|
}
|
||||||
max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
|
|
||||||
}
|
|
||||||
else {
|
|
||||||
current->entry_speed = max_entry_speed;
|
|
||||||
}
|
|
||||||
current->recalculate_flag = true;
|
|
||||||
|
|
||||||
}
|
|
||||||
} // Skip last block. Already initialized and set for recalculation.
|
|
||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
@ -239,12 +228,14 @@ void Planner::reverse_pass() {
|
|||||||
block_t* block[3] = { NULL, NULL, NULL };
|
block_t* block[3] = { NULL, NULL, NULL };
|
||||||
|
|
||||||
// Make a local copy of block_buffer_tail, because the interrupt can alter it
|
// Make a local copy of block_buffer_tail, because the interrupt can alter it
|
||||||
CRITICAL_SECTION_START;
|
// Is a critical section REALLY needed for a single byte change?
|
||||||
uint8_t tail = block_buffer_tail;
|
//CRITICAL_SECTION_START;
|
||||||
CRITICAL_SECTION_END
|
uint8_t tail = block_buffer_tail;
|
||||||
|
//CRITICAL_SECTION_END
|
||||||
|
|
||||||
uint8_t b = BLOCK_MOD(block_buffer_head - 3);
|
uint8_t b = BLOCK_MOD(block_buffer_head - 3);
|
||||||
while (b != tail) {
|
while (b != tail) {
|
||||||
|
if (block[0] && (block[0]->flag & BLOCK_FLAG_START_FROM_FULL_HALT)) break;
|
||||||
b = prev_block_index(b);
|
b = prev_block_index(b);
|
||||||
block[2] = block[1];
|
block[2] = block[1];
|
||||||
block[1] = block[0];
|
block[1] = block[0];
|
||||||
@ -255,21 +246,21 @@ void Planner::reverse_pass() {
|
|||||||
}
|
}
|
||||||
|
|
||||||
// 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(block_t* previous, block_t* current) {
|
void Planner::forward_pass_kernel(const block_t* previous, block_t* const current) {
|
||||||
if (!previous) return;
|
if (!previous) return;
|
||||||
|
|
||||||
// If the previous block is an acceleration block, but it is not long enough to complete the
|
// If the previous block is an acceleration block, but it is not long enough to complete the
|
||||||
// full speed change within the block, we need to adjust the entry speed accordingly. Entry
|
// full speed change within the block, we need to adjust the entry speed accordingly. Entry
|
||||||
// speeds have already been reset, maximized, and reverse planned by reverse planner.
|
// speeds have already been reset, maximized, and reverse planned by reverse planner.
|
||||||
// If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
|
// If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
|
||||||
if (!previous->nominal_length_flag) {
|
if (!(previous->flag & BLOCK_FLAG_NOMINAL_LENGTH)) {
|
||||||
if (previous->entry_speed < current->entry_speed) {
|
if (previous->entry_speed < current->entry_speed) {
|
||||||
float entry_speed = min(current->entry_speed,
|
float entry_speed = min(current->entry_speed,
|
||||||
max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters));
|
max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters));
|
||||||
// Check for junction speed change
|
// Check for junction speed change
|
||||||
if (current->entry_speed != entry_speed) {
|
if (current->entry_speed != entry_speed) {
|
||||||
current->entry_speed = entry_speed;
|
current->entry_speed = entry_speed;
|
||||||
current->recalculate_flag = true;
|
current->flag |= BLOCK_FLAG_RECALCULATE;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -298,19 +289,18 @@ void Planner::forward_pass() {
|
|||||||
*/
|
*/
|
||||||
void Planner::recalculate_trapezoids() {
|
void Planner::recalculate_trapezoids() {
|
||||||
int8_t block_index = block_buffer_tail;
|
int8_t block_index = block_buffer_tail;
|
||||||
block_t* current;
|
block_t *current, *next = NULL;
|
||||||
block_t* next = NULL;
|
|
||||||
|
|
||||||
while (block_index != block_buffer_head) {
|
while (block_index != block_buffer_head) {
|
||||||
current = next;
|
current = next;
|
||||||
next = &block_buffer[block_index];
|
next = &block_buffer[block_index];
|
||||||
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 (current->recalculate_flag || next->recalculate_flag) {
|
if ((current->flag & BLOCK_FLAG_RECALCULATE) || (next->flag & BLOCK_FLAG_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.
|
||||||
float nom = current->nominal_speed;
|
float nom = current->nominal_speed;
|
||||||
calculate_trapezoid_for_block(current, current->entry_speed / nom, next->entry_speed / nom);
|
calculate_trapezoid_for_block(current, current->entry_speed / nom, next->entry_speed / nom);
|
||||||
current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed
|
current->flag &= ~BLOCK_FLAG_RECALCULATE; // Reset current only to ensure next trapezoid is computed
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
block_index = next_block_index(block_index);
|
block_index = next_block_index(block_index);
|
||||||
@ -319,7 +309,7 @@ void Planner::recalculate_trapezoids() {
|
|||||||
if (next) {
|
if (next) {
|
||||||
float nom = next->nominal_speed;
|
float nom = next->nominal_speed;
|
||||||
calculate_trapezoid_for_block(next, next->entry_speed / nom, (MINIMUM_PLANNER_SPEED) / nom);
|
calculate_trapezoid_for_block(next, next->entry_speed / nom, (MINIMUM_PLANNER_SPEED) / nom);
|
||||||
next->recalculate_flag = false;
|
next->flag &= ~BLOCK_FLAG_RECALCULATE;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -706,6 +696,9 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
|
|||||||
// 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;
|
||||||
|
|
||||||
|
// Clear the block flags
|
||||||
|
block->flag = 0;
|
||||||
|
|
||||||
// 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)
|
||||||
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
|
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
|
||||||
@ -1021,90 +1014,170 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
|
|||||||
|
|
||||||
// Compute and limit the acceleration rate for the trapezoid generator.
|
// Compute and limit the acceleration rate for the trapezoid generator.
|
||||||
float steps_per_mm = block->step_event_count / block->millimeters;
|
float steps_per_mm = block->step_event_count / block->millimeters;
|
||||||
|
uint32_t accel;
|
||||||
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]) {
|
||||||
block->acceleration_steps_per_s2 = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
|
// convert to: acceleration steps/sec^2
|
||||||
|
accel = ceil(retract_acceleration * steps_per_mm);
|
||||||
}
|
}
|
||||||
else {
|
else {
|
||||||
|
#define LIMIT_ACCEL(AXIS) do{ \
|
||||||
|
const uint32_t comp = max_acceleration_steps_per_s2[AXIS] * block->step_event_count; \
|
||||||
|
if (accel * block->steps[AXIS] > comp) accel = comp / block->steps[AXIS]; \
|
||||||
|
}while(0)
|
||||||
|
|
||||||
|
// Start with print or travel acceleration
|
||||||
|
accel = ceil((block->steps[E_AXIS] ? acceleration : travel_acceleration) * steps_per_mm);
|
||||||
|
|
||||||
// Limit acceleration per axis
|
// Limit acceleration per axis
|
||||||
block->acceleration_steps_per_s2 = ceil((block->steps[E_AXIS] ? acceleration : travel_acceleration) * steps_per_mm);
|
LIMIT_ACCEL(X_AXIS);
|
||||||
if (max_acceleration_steps_per_s2[X_AXIS] < (block->acceleration_steps_per_s2 * block->steps[X_AXIS]) / block->step_event_count)
|
LIMIT_ACCEL(Y_AXIS);
|
||||||
block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[X_AXIS] * block->step_event_count) / block->steps[X_AXIS];
|
LIMIT_ACCEL(Z_AXIS);
|
||||||
if (max_acceleration_steps_per_s2[Y_AXIS] < (block->acceleration_steps_per_s2 * block->steps[Y_AXIS]) / block->step_event_count)
|
LIMIT_ACCEL(E_AXIS);
|
||||||
block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[Y_AXIS] * block->step_event_count) / block->steps[Y_AXIS];
|
|
||||||
if (max_acceleration_steps_per_s2[Z_AXIS] < (block->acceleration_steps_per_s2 * block->steps[Z_AXIS]) / block->step_event_count)
|
|
||||||
block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[Z_AXIS] * block->step_event_count) / block->steps[Z_AXIS];
|
|
||||||
if (max_acceleration_steps_per_s2[E_AXIS] < (block->acceleration_steps_per_s2 * block->steps[E_AXIS]) / block->step_event_count)
|
|
||||||
block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[E_AXIS] * block->step_event_count) / block->steps[E_AXIS];
|
|
||||||
}
|
}
|
||||||
block->acceleration = block->acceleration_steps_per_s2 / steps_per_mm;
|
block->acceleration_steps_per_s2 = accel;
|
||||||
block->acceleration_rate = (long)(block->acceleration_steps_per_s2 * 16777216.0 / ((F_CPU) * 0.125));
|
block->acceleration = accel / steps_per_mm;
|
||||||
|
block->acceleration_rate = (long)(accel * 16777216.0 / ((F_CPU) * 0.125)); // * 8.388608
|
||||||
|
|
||||||
|
// Initial limit on the segment entry velocity
|
||||||
|
float vmax_junction;
|
||||||
|
|
||||||
#if 0 // Use old jerk for now
|
#if 0 // Use old jerk for now
|
||||||
|
|
||||||
float junction_deviation = 0.1;
|
float junction_deviation = 0.1;
|
||||||
|
|
||||||
// Compute path unit vector
|
// Compute path unit vector
|
||||||
double unit_vec[XYZ];
|
double unit_vec[XYZ] = {
|
||||||
|
delta_mm[X_AXIS] * inverse_millimeters,
|
||||||
|
delta_mm[Y_AXIS] * inverse_millimeters,
|
||||||
|
delta_mm[Z_AXIS] * inverse_millimeters
|
||||||
|
};
|
||||||
|
|
||||||
unit_vec[X_AXIS] = delta_mm[X_AXIS] * inverse_millimeters;
|
/*
|
||||||
unit_vec[Y_AXIS] = delta_mm[Y_AXIS] * inverse_millimeters;
|
Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
|
||||||
unit_vec[Z_AXIS] = delta_mm[Z_AXIS] * inverse_millimeters;
|
|
||||||
|
|
||||||
// Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
|
Let a circle be tangent to both previous and current path line segments, where the junction
|
||||||
// Let a circle be tangent to both previous and current path line segments, where the junction
|
deviation is defined as the distance from the junction to the closest edge of the circle,
|
||||||
// deviation is defined as the distance from the junction to the closest edge of the circle,
|
collinear with the circle center.
|
||||||
// collinear with the circle center. The circular segment joining the two paths represents the
|
|
||||||
// path of centripetal acceleration. Solve for max velocity based on max acceleration about the
|
The circular segment joining the two paths represents the path of centripetal acceleration.
|
||||||
// radius of the circle, defined indirectly by junction deviation. This may be also viewed as
|
Solve for max velocity based on max acceleration about the radius of the circle, defined
|
||||||
// path width or max_jerk in the previous grbl version. This approach does not actually deviate
|
indirectly by junction deviation.
|
||||||
// from path, but used as a robust way to compute cornering speeds, as it takes into account the
|
|
||||||
// nonlinearities of both the junction angle and junction velocity.
|
This may be also viewed as path width or max_jerk in the previous grbl version. This approach
|
||||||
double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
|
does not actually deviate from path, but used as a robust way to compute cornering speeds, as
|
||||||
|
it takes into account the nonlinearities of both the junction angle and junction velocity.
|
||||||
|
*/
|
||||||
|
|
||||||
|
vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
|
||||||
|
|
||||||
// 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 ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
|
if (block_buffer_head != block_buffer_tail && previous_nominal_speed > 0.0) {
|
||||||
// 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.
|
||||||
double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
|
float cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
|
||||||
- previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
|
- previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
|
||||||
- previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
|
- previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
|
||||||
// Skip and use default max junction speed for 0 degree acute junction.
|
// Skip and use default max junction speed for 0 degree acute junction.
|
||||||
if (cos_theta < 0.95) {
|
if (cos_theta < 0.95) {
|
||||||
vmax_junction = min(previous_nominal_speed, block->nominal_speed);
|
vmax_junction = min(previous_nominal_speed, block->nominal_speed);
|
||||||
// Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
|
// Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
|
||||||
if (cos_theta > -0.95) {
|
if (cos_theta > -0.95) {
|
||||||
// Compute maximum junction velocity based on maximum acceleration and junction deviation
|
// Compute maximum junction velocity based on maximum acceleration and junction deviation
|
||||||
double sin_theta_d2 = sqrt(0.5 * (1.0 - cos_theta)); // Trig half angle identity. Always positive.
|
float sin_theta_d2 = sqrt(0.5 * (1.0 - cos_theta)); // Trig half angle identity. Always positive.
|
||||||
NOMORE(vmax_junction, sqrt(block->acceleration * junction_deviation * sin_theta_d2 / (1.0 - sin_theta_d2)));
|
NOMORE(vmax_junction, sqrt(block->acceleration * junction_deviation * sin_theta_d2 / (1.0 - sin_theta_d2)));
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
// Start with a safe speed
|
/**
|
||||||
float vmax_junction = max_jerk[X_AXIS] * 0.5, vmax_junction_factor = 1.0;
|
* Adapted from Prusa MKS firmware
|
||||||
if (max_jerk[Y_AXIS] * 0.5 < fabs(current_speed[Y_AXIS])) NOMORE(vmax_junction, max_jerk[Y_AXIS] * 0.5);
|
*
|
||||||
if (max_jerk[Z_AXIS] * 0.5 < fabs(current_speed[Z_AXIS])) NOMORE(vmax_junction, max_jerk[Z_AXIS] * 0.5);
|
* Start with a safe speed (from which the machine may halt to stop immediately).
|
||||||
if (max_jerk[E_AXIS] * 0.5 < fabs(current_speed[E_AXIS])) NOMORE(vmax_junction, max_jerk[E_AXIS] * 0.5);
|
*/
|
||||||
NOMORE(vmax_junction, block->nominal_speed);
|
|
||||||
float safe_speed = vmax_junction;
|
// Exit speed limited by a jerk to full halt of a previous last segment
|
||||||
|
static float previous_safe_speed;
|
||||||
|
|
||||||
|
float safe_speed = block->nominal_speed;
|
||||||
|
bool limited = false;
|
||||||
|
LOOP_XYZE(i) {
|
||||||
|
float jerk = fabs(current_speed[i]);
|
||||||
|
if (jerk > max_jerk[i]) {
|
||||||
|
// The actual jerk is lower if it has been limited by the XY jerk.
|
||||||
|
if (limited) {
|
||||||
|
// Spare one division by a following gymnastics:
|
||||||
|
// Instead of jerk *= safe_speed / block->nominal_speed,
|
||||||
|
// multiply max_jerk[i] by the divisor.
|
||||||
|
jerk *= safe_speed;
|
||||||
|
float mjerk = max_jerk[i] * block->nominal_speed;
|
||||||
|
if (jerk > mjerk) safe_speed *= mjerk / jerk;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
safe_speed = max_jerk[i];
|
||||||
|
limited = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
if (moves_queued > 1 && previous_nominal_speed > 0.0001) {
|
if (moves_queued > 1 && previous_nominal_speed > 0.0001) {
|
||||||
//if ((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
|
// Estimate a maximum velocity allowed at a joint of two successive segments.
|
||||||
vmax_junction = block->nominal_speed;
|
// 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.
|
||||||
|
|
||||||
float dsx = fabs(current_speed[X_AXIS] - previous_speed[X_AXIS]),
|
// The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum.
|
||||||
dsy = fabs(current_speed[Y_AXIS] - previous_speed[Y_AXIS]),
|
bool prev_speed_larger = previous_nominal_speed > block->nominal_speed;
|
||||||
dsz = fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]),
|
float smaller_speed_factor = prev_speed_larger ? (block->nominal_speed / previous_nominal_speed) : (previous_nominal_speed / block->nominal_speed);
|
||||||
dse = fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]);
|
// Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
|
||||||
if (dsx > max_jerk[X_AXIS]) NOMORE(vmax_junction_factor, max_jerk[X_AXIS] / dsx);
|
vmax_junction = prev_speed_larger ? block->nominal_speed : previous_nominal_speed;
|
||||||
if (dsy > max_jerk[Y_AXIS]) NOMORE(vmax_junction_factor, max_jerk[Y_AXIS] / dsy);
|
// Factor to multiply the previous / current nominal velocities to get componentwise limited velocities.
|
||||||
if (dsz > max_jerk[Z_AXIS]) NOMORE(vmax_junction_factor, max_jerk[Z_AXIS] / dsz);
|
float v_factor = 1.f;
|
||||||
if (dse > max_jerk[E_AXIS]) NOMORE(vmax_junction_factor, max_jerk[E_AXIS] / dse);
|
limited = false;
|
||||||
|
// Now limit the jerk in all axes.
|
||||||
vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
|
LOOP_XYZE(axis) {
|
||||||
|
// Limit an axis. We have to differentiate: coasting, reversal of an axis, full stop.
|
||||||
|
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;
|
||||||
|
}
|
||||||
|
// Calculate jerk depending on whether the axis is coasting in the same direction or reversing.
|
||||||
|
float jerk =
|
||||||
|
(v_exit > v_entry) ?
|
||||||
|
((v_entry > 0.f || v_exit < 0.f) ?
|
||||||
|
// coasting
|
||||||
|
(v_exit - v_entry) :
|
||||||
|
// axis reversal
|
||||||
|
max(v_exit, -v_entry)) :
|
||||||
|
// v_exit <= v_entry
|
||||||
|
((v_entry < 0.f || v_exit > 0.f) ?
|
||||||
|
// coasting
|
||||||
|
(v_entry - v_exit) :
|
||||||
|
// axis reversal
|
||||||
|
max(-v_exit, v_entry));
|
||||||
|
if (jerk > max_jerk[axis]) {
|
||||||
|
v_factor *= max_jerk[axis] / jerk;
|
||||||
|
limited = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (limited) vmax_junction *= v_factor;
|
||||||
|
// Now the transition velocity is known, which maximizes the shared exit / entry velocity while
|
||||||
|
// respecting the jerk factors, it may be possible, that applying separate safe exit / entry velocities will achieve faster prints.
|
||||||
|
float vmax_junction_threshold = vmax_junction * 0.99f;
|
||||||
|
if (previous_safe_speed > vmax_junction_threshold && safe_speed > vmax_junction_threshold) {
|
||||||
|
// Not coasting. The machine will stop and start the movements anyway,
|
||||||
|
// better to start the segment from start.
|
||||||
|
block->flag |= BLOCK_FLAG_START_FROM_FULL_HALT;
|
||||||
|
vmax_junction = safe_speed;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
else {
|
||||||
|
block->flag |= BLOCK_FLAG_START_FROM_FULL_HALT;
|
||||||
|
vmax_junction = safe_speed;
|
||||||
|
}
|
||||||
|
|
||||||
|
// 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 = vmax_junction;
|
||||||
|
|
||||||
// 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.
|
||||||
@ -1119,12 +1192,12 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
|
|||||||
// 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->nominal_length_flag = (block->nominal_speed <= v_allowable);
|
block->flag |= BLOCK_FLAG_RECALCULATE | (block->nominal_speed <= v_allowable ? BLOCK_FLAG_NOMINAL_LENGTH : 0);
|
||||||
block->recalculate_flag = true; // Always calculate trapezoid for new block
|
|
||||||
|
|
||||||
// Update previous path unit_vector and nominal speed
|
// Update previous path unit_vector and nominal speed
|
||||||
memcpy(previous_speed, current_speed, sizeof(previous_speed));
|
memcpy(previous_speed, current_speed, sizeof(previous_speed));
|
||||||
previous_nominal_speed = block->nominal_speed;
|
previous_nominal_speed = block->nominal_speed;
|
||||||
|
previous_safe_speed = safe_speed;
|
||||||
|
|
||||||
#if ENABLED(LIN_ADVANCE)
|
#if ENABLED(LIN_ADVANCE)
|
||||||
|
|
||||||
|
@ -40,6 +40,19 @@
|
|||||||
#include "vector_3.h"
|
#include "vector_3.h"
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
enum BlockFlag {
|
||||||
|
// Recalculate trapezoids on entry junction. For optimization.
|
||||||
|
BLOCK_FLAG_RECALCULATE = _BV(0),
|
||||||
|
|
||||||
|
// Nominal speed always reached.
|
||||||
|
// i.e., The segment is long enough, so the nominal speed is reachable if accelerating
|
||||||
|
// from a safe speed (in consideration of jerking from zero speed).
|
||||||
|
BLOCK_FLAG_NOMINAL_LENGTH = _BV(1),
|
||||||
|
|
||||||
|
// Start from a halt at the start of this block, respecting the maximum allowed jerk.
|
||||||
|
BLOCK_FLAG_START_FROM_FULL_HALT = _BV(2)
|
||||||
|
};
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* struct block_t
|
* struct block_t
|
||||||
*
|
*
|
||||||
@ -79,19 +92,18 @@ typedef struct {
|
|||||||
#endif
|
#endif
|
||||||
|
|
||||||
// Fields used by the motion planner to manage acceleration
|
// Fields used by the motion planner to manage acceleration
|
||||||
float nominal_speed, // The nominal speed for this block in mm/sec
|
float nominal_speed, // The nominal speed for this block in mm/sec
|
||||||
entry_speed, // Entry speed at previous-current junction 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
|
max_entry_speed, // Maximum allowable junction entry speed in mm/sec
|
||||||
millimeters, // The total travel of this block in mm
|
millimeters, // The total travel of this block in mm
|
||||||
acceleration; // acceleration mm/sec^2
|
acceleration; // acceleration mm/sec^2
|
||||||
unsigned char recalculate_flag, // Planner flag to recalculate trapezoids on entry junction
|
uint8_t flag; // Block flags (See BlockFlag enum above)
|
||||||
nominal_length_flag; // Planner flag for nominal speed always reached
|
|
||||||
|
|
||||||
// Settings for the trapezoid generator
|
// Settings for the trapezoid generator
|
||||||
unsigned long 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
|
||||||
acceleration_steps_per_s2; // acceleration steps/sec^2
|
acceleration_steps_per_s2; // acceleration steps/sec^2
|
||||||
|
|
||||||
#if FAN_COUNT > 0
|
#if FAN_COUNT > 0
|
||||||
unsigned long fan_speed[FAN_COUNT];
|
unsigned long fan_speed[FAN_COUNT];
|
||||||
@ -379,10 +391,10 @@ class Planner {
|
|||||||
return sqrt(sq(target_velocity) - 2 * accel * distance);
|
return sqrt(sq(target_velocity) - 2 * accel * distance);
|
||||||
}
|
}
|
||||||
|
|
||||||
static void calculate_trapezoid_for_block(block_t* block, float entry_factor, float exit_factor);
|
static void calculate_trapezoid_for_block(block_t* const block, const float &entry_factor, const float &exit_factor);
|
||||||
|
|
||||||
static void reverse_pass_kernel(block_t* current, block_t* next);
|
static void reverse_pass_kernel(block_t* const current, const block_t *next);
|
||||||
static void forward_pass_kernel(block_t* previous, block_t* current);
|
static void forward_pass_kernel(const block_t *previous, block_t* const current);
|
||||||
|
|
||||||
static void reverse_pass();
|
static void reverse_pass();
|
||||||
static void forward_pass();
|
static void forward_pass();
|
||||||
|
Loading…
Reference in New Issue
Block a user