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Merge pull request #4997 from thinkyhead/rc_jerk_from_mk2

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Adapt Jerk / Speed code from Prusa MK2
This commit is contained in:
Scott Lahteine 2016-10-12 06:38:50 -05:00 committed by GitHub
parent 37643fef63 4d89652bc2
commit 0921c7da84
2 changed files with 198 additions and 113 deletions
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271
Marlin/planner.cpp
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@ -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
Marlin/planner.h
View file

@ -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();