A lot of changes in the planner code
This commit is contained in:
Erik van der Zalm
parent
72ace55e6a
commit
65934eee9c
7 changed files with 2019 additions and 1877 deletions
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@ -6,6 +6,15 @@
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#define MM_PER_ARC_SEGMENT 1
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#define N_ARC_CORRECTION 25
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// Frequency limit
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// See nophead's blog for more info
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#define XY_FREQUENCY_LIMIT 15
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// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
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// of the buffer and all stops. This should not be much greater than zero and should only be changed
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// if unwanted behavior is observed on a user's machine when running at very slow speeds.
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#define MINIMUM_PLANNER_SPEED 2.0 // (mm/sec)
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// BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration
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//// The following define selects which electronics board you have. Please choose the one that matches your setup
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@ -97,6 +106,11 @@ const int dropsegments=5; //everything with this number of steps will be ignore
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#define DISABLE_E false
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// Inverting axis direction
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//#define INVERT_X_DIR false // for Mendel set to false, for Orca set to true
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//#define INVERT_Y_DIR true // for Mendel set to true, for Orca set to false
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//#define INVERT_Z_DIR false // for Mendel set to false, for Orca set to true
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//#define INVERT_E_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false
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#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true
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#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false
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#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
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@ -117,7 +131,7 @@ const int dropsegments=5; //everything with this number of steps will be ignore
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//// MOVEMENT SETTINGS
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#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
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//note: on bernhards ultimaker 200 200 12 are working well.
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#define HOMING_FEEDRATE {50*60, 50*60, 12*60, 0} // set the homing speeds
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#define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0} // set the homing speeds (mm/min)
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#define AXIS_RELATIVE_MODES {false, false, false, false}
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@ -126,19 +140,20 @@ const int dropsegments=5; //everything with this number of steps will be ignore
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// default settings
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#define DEFAULT_AXIS_STEPS_PER_UNIT {79.87220447,79.87220447,200*8/3,14} // default steps per unit for ultimaker
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#define DEFAULT_MAX_FEEDRATE {160*60, 160*60, 10*60, 500000}
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#define DEFAULT_MAX_ACCELERATION {9000,9000,150,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
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//#define DEFAULT_AXIS_STEPS_PER_UNIT {40, 40, 3333.92, 67}
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#define DEFAULT_MAX_FEEDRATE {500, 500, 10, 500000} // (mm/min)
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#define DEFAULT_MAX_ACCELERATION {9000,9000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
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#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
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#define DEFAULT_RETRACT_ACCELERATION 7000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts
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#define DEFAULT_MINIMUMFEEDRATE 10 // minimum feedrate
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#define DEFAULT_MINTRAVELFEEDRATE 10
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#define DEFAULT_MINIMUMFEEDRATE 0 // minimum feedrate
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#define DEFAULT_MINTRAVELFEEDRATE 0
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// minimum time in microseconds that a movement needs to take if the buffer is emptied. Increase this number if you see blobs while printing high speed & high detail. It will slowdown on the detailed stuff.
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#define DEFAULT_MINSEGMENTTIME 20000
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#define DEFAULT_XYJERK 30.0*60
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#define DEFAULT_ZJERK 10.0*60
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#define DEFAULT_XYJERK 30.0 // (mm/sec)
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#define DEFAULT_ZJERK 0.4 // (mm/sec)
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// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
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@ -162,7 +177,7 @@ const int dropsegments=5; //everything with this number of steps will be ignore
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//#define TEMP_HYSTERESIS 5 // (C°) range of +/- temperatures considered "close" to the target one
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//// The minimal temperature defines the temperature below which the heater will not be enabled
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#define HEATER_0_MINTEMP 5
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//#define HEATER_0_MINTEMP 5
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//#define HEATER_1_MINTEMP 5
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//#define BED_MINTEMP 5
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@ -170,7 +185,7 @@ const int dropsegments=5; //everything with this number of steps will be ignore
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// When temperature exceeds max temp, your heater will be switched off.
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// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
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// You should use MINTEMP for thermistor short/failure protection.
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#define HEATER_0_MAXTEMP 275
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//#define HEATER_0_MAXTEMP 275
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//#define_HEATER_1_MAXTEMP 275
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//#define BED_MAXTEMP 150
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@ -246,9 +261,9 @@ const int dropsegments=5; //everything with this number of steps will be ignore
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// The number of linear motions that can be in the plan at any give time.
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// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ringbuffering.
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#if defined SDSUPPORT
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#define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller
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#define BLOCK_BUFFER_SIZE 8 // SD,LCD,Buttons take more memory, block buffer needs to be smaller
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#else
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#define BLOCK_BUFFER_SIZE 16 // maximize block buffer
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#define BLOCK_BUFFER_SIZE 8 // maximize block buffer
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#endif
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//The ASCII buffer for recieving from the serial:
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@ -114,7 +114,9 @@ extern float HeaterPower;
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//===========================================================================
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//=============================public variables=============================
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//===========================================================================
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#ifdef SDSUPPORT
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CardReader card;
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#endif
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float homing_feedrate[] = HOMING_FEEDRATE;
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bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
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volatile int feedmultiply=100; //100->1 200->2
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@ -215,7 +217,9 @@ void loop()
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{
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if(buflen<3)
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get_command();
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#ifdef SDSUPPORT
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card.checkautostart(false);
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#endif
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if(buflen)
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{
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#ifdef SDSUPPORT
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@ -933,7 +937,7 @@ inline void get_arc_coordinates()
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void prepare_move()
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{
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60.0/100.0);
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0);
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for(int8_t i=0; i < NUM_AXIS; i++) {
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current_position[i] = destination[i];
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}
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@ -943,7 +947,7 @@ void prepare_arc_move(char isclockwise) {
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float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
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// Trace the arc
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mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60.0/100.0, r, isclockwise);
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mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise);
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// As far as the parser is concerned, the position is now == target. In reality the
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// motion control system might still be processing the action and the real tool position
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1297
Marlin/planner.cpp
1297
Marlin/planner.cpp
File diff suppressed because it is too large
Load diff
187
Marlin/planner.h
187
Marlin/planner.h
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@ -1,93 +1,96 @@
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/*
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planner.h - buffers movement commands and manages the acceleration profile plan
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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// This module is to be considered a sub-module of stepper.c. Please don't include
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// this file from any other module.
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#ifndef planner_h
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#define planner_h
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#include "Configuration.h"
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// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
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// the source g-code and may never actually be reached if acceleration management is active.
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typedef struct {
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// Fields used by the bresenham algorithm for tracing the line
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long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
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long step_event_count; // The number of step events required to complete this block
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volatile long accelerate_until; // The index of the step event on which to stop acceleration
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volatile long decelerate_after; // The index of the step event on which to start decelerating
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volatile long acceleration_rate; // The acceleration rate used for acceleration calculation
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unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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#ifdef ADVANCE
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long advance_rate;
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volatile long initial_advance;
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volatile long final_advance;
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float advance;
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#endif
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// Fields used by the motion planner to manage acceleration
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float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
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float nominal_speed; // The nominal speed for this block in mm/min
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float millimeters; // The total travel of this block in mm
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float entry_speed;
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float acceleration; // acceleration mm/sec^2
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// Settings for the trapezoid generator
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long nominal_rate; // The nominal step rate for this block in step_events/sec
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volatile long initial_rate; // The jerk-adjusted step rate at start of block
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volatile long final_rate; // The minimal rate at exit
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long acceleration_st; // acceleration steps/sec^2
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volatile char busy;
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} block_t;
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// Initialize the motion plan subsystem
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void plan_init();
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// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
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// millimaters. Feed rate specifies the speed of the motion.
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void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate);
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// Set position. Used for G92 instructions.
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void plan_set_position(const float &x, const float &y, const float &z, const float &e);
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// Called when the current block is no longer needed. Discards the block and makes the memory
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// availible for new blocks.
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void plan_discard_current_block();
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// Gets the current block. Returns NULL if buffer empty
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block_t *plan_get_current_block();
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void check_axes_activity();
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extern unsigned long minsegmenttime;
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extern float max_feedrate[4]; // set the max speeds
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extern float axis_steps_per_unit[4];
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extern long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
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extern float minimumfeedrate;
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extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
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extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
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extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
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extern float max_z_jerk;
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extern float mintravelfeedrate;
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extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
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/*
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planner.h - buffers movement commands and manages the acceleration profile plan
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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// This module is to be considered a sub-module of stepper.c. Please don't include
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// this file from any other module.
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#ifndef planner_h
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#define planner_h
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#include "Configuration.h"
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// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
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// the source g-code and may never actually be reached if acceleration management is active.
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typedef struct {
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// Fields used by the bresenham algorithm for tracing the line
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long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
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long step_event_count; // The number of step events required to complete this block
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volatile long accelerate_until; // The index of the step event on which to stop acceleration
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volatile long decelerate_after; // The index of the step event on which to start decelerating
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volatile long acceleration_rate; // The acceleration rate used for acceleration calculation
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unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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#ifdef ADVANCE
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// long advance_rate;
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// volatile long initial_advance;
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// volatile long final_advance;
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// float advance;
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#endif
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// Fields used by the motion planner to manage acceleration
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// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
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float nominal_speed; // The nominal speed for this block in mm/min
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float entry_speed; // Entry speed at previous-current junction in mm/min
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float max_entry_speed; // Maximum allowable junction entry speed in mm/min
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float millimeters; // The total travel of this block in mm
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float acceleration; // acceleration mm/sec^2
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unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
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unsigned char nominal_length_flag; // Planner flag for nominal speed always reached
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// Settings for the trapezoid generator
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long nominal_rate; // The nominal step rate for this block in step_events/sec
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volatile long initial_rate; // The jerk-adjusted step rate at start of block
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volatile long final_rate; // The minimal rate at exit
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long acceleration_st; // acceleration steps/sec^2
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volatile char busy;
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} block_t;
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// Initialize the motion plan subsystem
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void plan_init();
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// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
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// millimaters. Feed rate specifies the speed of the motion.
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void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate);
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// Set position. Used for G92 instructions.
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void plan_set_position(const float &x, const float &y, const float &z, const float &e);
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// Called when the current block is no longer needed. Discards the block and makes the memory
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// availible for new blocks.
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void plan_discard_current_block();
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// Gets the current block. Returns NULL if buffer empty
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block_t *plan_get_current_block();
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void check_axes_activity();
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extern unsigned long minsegmenttime;
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extern float max_feedrate[4]; // set the max speeds
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extern float axis_steps_per_unit[4];
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extern long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
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extern float minimumfeedrate;
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extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
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extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
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extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
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extern float max_z_jerk;
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extern float mintravelfeedrate;
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extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
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#endif
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1227
Marlin/stepper.cpp
1227
Marlin/stepper.cpp
File diff suppressed because it is too large
Load diff
File diff suppressed because it is too large
Load diff
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@ -1,12 +1,14 @@
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#ifndef THERMISTORTABLES_H_
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#define THERMISTORTABLES_H_
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#include <avr/pgmspace.h>
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#define OVERSAMPLENR 16
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#if (THERMISTORHEATER_0 == 1) || (THERMISTORHEATER_1 == 1) || (THERMISTORBED == 1) //100k bed thermistor
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#define NUMTEMPS_1 61
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const short temptable_1[NUMTEMPS_1][2] = {
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const short temptable_1[NUMTEMPS_1][2] PROGMEM = {
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{ 23*OVERSAMPLENR , 300 },
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{ 25*OVERSAMPLENR , 295 },
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{ 27*OVERSAMPLENR , 290 },
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@ -72,7 +74,7 @@ const short temptable_1[NUMTEMPS_1][2] = {
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#endif
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#if (THERMISTORHEATER_0 == 2) || (THERMISTORHEATER_1 == 2) || (THERMISTORBED == 2) //200k bed thermistor
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#define NUMTEMPS_2 21
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const short temptable_2[NUMTEMPS_2][2] = {
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const short temptable_2[NUMTEMPS_2][2] PROGMEM = {
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{1*OVERSAMPLENR, 848},
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{54*OVERSAMPLENR, 275},
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{107*OVERSAMPLENR, 228},
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@ -99,7 +101,7 @@ const short temptable_2[NUMTEMPS_2][2] = {
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#endif
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#if (THERMISTORHEATER_0 == 3) || (THERMISTORHEATER_1 == 3) || (THERMISTORBED == 3) //mendel-parts
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#define NUMTEMPS_3 28
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const short temptable_3[NUMTEMPS_3][2] = {
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const short temptable_3[NUMTEMPS_3][2] PROGMEM = {
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{1*OVERSAMPLENR,864},
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{21*OVERSAMPLENR,300},
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{25*OVERSAMPLENR,290},
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@ -134,7 +136,7 @@ const short temptable_3[NUMTEMPS_3][2] = {
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#if (THERMISTORHEATER_0 == 4) || (THERMISTORHEATER_1 == 4) || (THERMISTORBED == 4) //10k thermistor
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#define NUMTEMPS_4 20
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short temptable_4[NUMTEMPS_4][2] = {
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const short temptable_4[NUMTEMPS_4][2] PROGMEM = {
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{1*OVERSAMPLENR, 430},
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{54*OVERSAMPLENR, 137},
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{107*OVERSAMPLENR, 107},
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@ -161,7 +163,7 @@ short temptable_4[NUMTEMPS_4][2] = {
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#if (THERMISTORHEATER_0 == 5) || (THERMISTORHEATER_1 == 5) || (THERMISTORBED == 5) //100k ParCan thermistor (104GT-2)
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#define NUMTEMPS_5 61
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const short temptable_5[NUMTEMPS_5][2] = {
|
||||
const short temptable_5[NUMTEMPS_5][2] PROGMEM = {
|
||||
{1*OVERSAMPLENR, 713},
|
||||
{18*OVERSAMPLENR, 316},
|
||||
{35*OVERSAMPLENR, 266},
|
||||
|
|
@ -228,7 +230,7 @@ const short temptable_5[NUMTEMPS_5][2] = {
|
|||
|
||||
#if (THERMISTORHEATER_0 == 6) || (THERMISTORHEATER_1 == 6) || (THERMISTORBED == 6) // 100k Epcos thermistor
|
||||
#define NUMTEMPS_6 36
|
||||
const short temptable_6[NUMTEMPS_6][2] = {
|
||||
const short temptable_6[NUMTEMPS_6][2] PROGMEM = {
|
||||
{28*OVERSAMPLENR, 250},
|
||||
{31*OVERSAMPLENR, 245},
|
||||
{35*OVERSAMPLENR, 240},
|
||||
|
|
@ -270,7 +272,7 @@ const short temptable_6[NUMTEMPS_6][2] = {
|
|||
|
||||
#if (THERMISTORHEATER_0 == 7) || (THERMISTORHEATER_1 == 7) || (THERMISTORBED == 7) // 100k Honeywell 135-104LAG-J01
|
||||
#define NUMTEMPS_7 54
|
||||
const short temptable_7[NUMTEMPS_7][2] = {
|
||||
const short temptable_7[NUMTEMPS_7][2] PROGMEM = {
|
||||
{46*OVERSAMPLENR, 270},
|
||||
{50*OVERSAMPLENR, 265},
|
||||
{54*OVERSAMPLENR, 260},
|
||||
|
|
|
|||
Loading…
Reference in a new issue