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planner.cpp
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planner.cpp
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/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* planner.cpp
*
* Buffer movement commands and manage the acceleration profile plan
*
* Derived from Grbl
* Copyright (c) 2009-2011 Simen Svale Skogsrud
*
* Ring buffer gleaned from wiring_serial library by David A. Mellis.
*
* Fast inverse function needed for Bézier interpolation for AVR
* was designed, written and tested by Eduardo José Tagle, April 2018.
*
* Planner mathematics (Mathematica-style):
*
* Where: s == speed, a == acceleration, t == time, d == distance
*
* Basic definitions:
* Speed[s_, a_, t_] := s + (a*t)
* Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
*
* Distance to reach a specific speed with a constant acceleration:
* Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
* d -> (m^2 - s^2) / (2 a)
*
* Speed after a given distance of travel with constant acceleration:
* Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
* m -> Sqrt[2 a d + s^2]
*
* DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
*
* When to start braking (di) to reach a specified destination speed (s2) after
* acceleration from initial speed s1 without ever reaching a plateau:
* Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
* di -> (2 a d - s1^2 + s2^2)/(4 a)
*
* We note, as an optimization, that if we have already calculated an
* acceleration distance d1 from s1 to m and a deceration distance d2
* from m to s2 then
*
* d1 -> (m^2 - s1^2) / (2 a)
* d2 -> (m^2 - s2^2) / (2 a)
* di -> (d + d1 - d2) / 2
*/
#include "planner.h"
#include "stepper.h"
#include "motion.h"
#include "temperature.h"
#if ENABLED(FT_MOTION)
#include "ft_motion.h"
#endif
#include "../lcd/marlinui.h"
#include "../gcode/parser.h"
#include "../MarlinCore.h"
#if HAS_LEVELING
#include "../feature/bedlevel/bedlevel.h"
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
#include "../feature/filwidth.h"
#endif
#if ENABLED(BARICUDA)
#include "../feature/baricuda.h"
#endif
#if ENABLED(MIXING_EXTRUDER)
#include "../feature/mixing.h"
#endif
#if ENABLED(AUTO_POWER_CONTROL)
#include "../feature/power.h"
#endif
#if ENABLED(BACKLASH_COMPENSATION)
#include "../feature/backlash.h"
#endif
#if ENABLED(CANCEL_OBJECTS)
#include "../feature/cancel_object.h"
#endif
#if ENABLED(POWER_LOSS_RECOVERY)
#include "../feature/powerloss.h"
#endif
#if HAS_CUTTER
#include "../feature/spindle_laser.h"
#endif
// Delay for delivery of first block to the stepper ISR, if the queue contains 2 or
// fewer movements. The delay is measured in milliseconds, and must be less than 250ms
#define BLOCK_DELAY_NONE 0U
#define BLOCK_DELAY_FOR_1ST_MOVE 100U
Planner planner;
// public:
/**
* A ring buffer of moves described in steps
*/
block_t Planner::block_buffer[BLOCK_BUFFER_SIZE];
volatile uint8_t Planner::block_buffer_head, // Index of the next block to be pushed
Planner::block_buffer_nonbusy, // Index of the first non-busy block
Planner::block_buffer_planned, // Index of the optimally planned block
Planner::block_buffer_tail; // Index of the busy block, if any
uint16_t Planner::cleaning_buffer_counter; // A counter to disable queuing of blocks
uint8_t Planner::delay_before_delivering; // Delay block delivery so initial blocks in an empty queue may merge
#if ENABLED(EDITABLE_STEPS_PER_UNIT)
float Planner::mm_per_step[DISTINCT_AXES]; // (mm) Millimeters per step
#else
constexpr float PlannerSettings::axis_steps_per_mm[DISTINCT_AXES];
constexpr float Planner::mm_per_step[DISTINCT_AXES];
#endif
planner_settings_t Planner::settings; // Initialized by settings.load()
/**
* Set up inline block variables
* Set laser_power_floor based on SPEED_POWER_MIN to pevent a zero power output state with LASER_POWER_TRAP
*/
#if ENABLED(LASER_FEATURE)
laser_state_t Planner::laser_inline; // Current state for blocks
const uint8_t laser_power_floor = cutter.pct_to_ocr(SPEED_POWER_MIN);
#endif
uint32_t Planner::max_acceleration_steps_per_s2[DISTINCT_AXES]; // (steps/s^2) Derived from mm_per_s2
#if HAS_JUNCTION_DEVIATION
float Planner::junction_deviation_mm; // (mm) M205 J
#if HAS_LINEAR_E_JERK
float Planner::max_e_jerk[DISTINCT_E]; // Calculated from junction_deviation_mm
#endif
#else // CLASSIC_JERK
TERN(HAS_LINEAR_E_JERK, xyz_pos_t, xyze_pos_t) Planner::max_jerk;
#endif
#if ENABLED(SD_ABORT_ON_ENDSTOP_HIT)
bool Planner::abort_on_endstop_hit = false;
#endif
#if ENABLED(DISTINCT_E_FACTORS)
uint8_t Planner::last_extruder = 0; // Respond to extruder change
#endif
#if ENABLED(DIRECT_STEPPING)
uint32_t Planner::last_page_step_rate = 0;
AxisBits Planner::last_page_dir; // = 0
#endif
#if HAS_EXTRUDERS
int16_t Planner::flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100); // Extrusion factor for each extruder
float Planner::e_factor[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0f); // The flow percentage and volumetric multiplier combine to scale E movement
#endif
#if DISABLED(NO_VOLUMETRICS)
float Planner::filament_size[EXTRUDERS], // diameter of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder
Planner::volumetric_area_nominal = CIRCLE_AREA(float(DEFAULT_NOMINAL_FILAMENT_DIA) * 0.5f), // Nominal cross-sectional area
Planner::volumetric_multiplier[EXTRUDERS]; // Reciprocal of cross-sectional area of filament (in mm^2). Pre-calculated to reduce computation in the planner
#endif
#if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT)
float Planner::volumetric_extruder_limit[EXTRUDERS], // max mm^3/sec the extruder is able to handle
Planner::volumetric_extruder_feedrate_limit[EXTRUDERS]; // pre calculated extruder feedrate limit based on volumetric_extruder_limit; pre-calculated to reduce computation in the planner
#endif
#ifdef MAX7219_DEBUG_SLOWDOWN
uint8_t Planner::slowdown_count = 0;
#endif
#if HAS_LEVELING
bool Planner::leveling_active = false; // Flag that auto bed leveling is enabled
#if ABL_PLANAR
matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level
#endif
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
float Planner::z_fade_height, // Initialized by settings.load()
Planner::inverse_z_fade_height,
Planner::last_fade_z;
#endif
#else
constexpr bool Planner::leveling_active;
#endif
#if ENABLED(SKEW_CORRECTION)
skew_factor_t Planner::skew_factor; // Initialized by settings.load()
#endif
#if ENABLED(AUTOTEMP)
autotemp_t Planner::autotemp = { AUTOTEMP_MIN, AUTOTEMP_MAX, AUTOTEMP_FACTOR, false };
#endif
// private:
xyze_long_t Planner::position{0};
uint32_t Planner::acceleration_long_cutoff;
xyze_float_t Planner::previous_speed;
float Planner::previous_nominal_speed;
#if ENABLED(DISABLE_OTHER_EXTRUDERS)
last_move_t Planner::extruder_last_move[E_STEPPERS] = { 0 };
#endif
#ifdef XY_FREQUENCY_LIMIT
int8_t Planner::xy_freq_limit_hz = XY_FREQUENCY_LIMIT;
float Planner::xy_freq_min_speed_factor = (XY_FREQUENCY_MIN_PERCENT) * 0.01f;
int32_t Planner::xy_freq_min_interval_us = LROUND(1000000.0f / (XY_FREQUENCY_LIMIT));
#endif
#if ENABLED(LIN_ADVANCE)
float Planner::extruder_advance_K[DISTINCT_E]; // Initialized by settings.load()
#endif
#if HAS_POSITION_FLOAT
xyze_pos_t Planner::position_float; // Needed for accurate maths. Steps cannot be used!
#endif
#if IS_KINEMATIC
xyze_pos_t Planner::position_cart;
#endif
#if HAS_WIRED_LCD
volatile uint32_t Planner::block_buffer_runtime_us = 0;
#endif
/**
* Class and Instance Methods
*/
Planner::Planner() { init(); }
void Planner::init() {
position.reset();
TERN_(HAS_POSITION_FLOAT, position_float.reset());
TERN_(IS_KINEMATIC, position_cart.reset());
previous_speed.reset();
previous_nominal_speed = 0;
TERN_(ABL_PLANAR, bed_level_matrix.set_to_identity());
clear_block_buffer();
delay_before_delivering = 0;
#if ENABLED(DIRECT_STEPPING)
last_page_step_rate = 0;
last_page_dir.reset();
#endif
}
#if ENABLED(S_CURVE_ACCELERATION)
#ifdef __AVR__
/**
* This routine returns 0x1000000 / d, getting the inverse as fast as possible.
* A fast-converging iterative Newton-Raphson method can reach full precision in
* just 1 iteration, and takes 211 cycles (worst case; the mean case is less, up
* to 30 cycles for small divisors), instead of the 500 cycles a normal division
* would take.
*
* Inspired by the following page:
* https://stackoverflow.com/questions/27801397/newton-raphson-division-with-big-integers
*
* Suppose we want to calculate floor(2 ^ k / B) where B is a positive integer
* Then, B must be <= 2^k, otherwise, the quotient is 0.
*
* The Newton - Raphson iteration for x = B / 2 ^ k yields:
* q[n + 1] = q[n] * (2 - q[n] * B / 2 ^ k)
*
* This can be rearranged to:
* q[n + 1] = q[n] * (2 ^ (k + 1) - q[n] * B) >> k
*
* Each iteration requires only integer multiplications and bit shifts.
* It doesn't necessarily converge to floor(2 ^ k / B) but in the worst case
* it eventually alternates between floor(2 ^ k / B) and ceil(2 ^ k / B).
* So it checks for this case and extracts floor(2 ^ k / B).
*
* A simple but important optimization for this approach is to truncate
* multiplications (i.e., calculate only the higher bits of the product) in the
* early iterations of the Newton - Raphson method. This is done so the results
* of the early iterations are far from the quotient. Then it doesn't matter if
* they are done inaccurately.
* It's important to pick a good starting value for x. Knowing how many
* digits the divisor has, it can be estimated:
*
* 2^k / x = 2 ^ log2(2^k / x)
* 2^k / x = 2 ^(log2(2^k)-log2(x))
* 2^k / x = 2 ^(k*log2(2)-log2(x))
* 2^k / x = 2 ^ (k-log2(x))
* 2^k / x >= 2 ^ (k-floor(log2(x)))
* floor(log2(x)) is simply the index of the most significant bit set.
*
* If this estimation can be improved even further the number of iterations can be
* reduced a lot, saving valuable execution time.
* The paper "Software Integer Division" by Thomas L.Rodeheffer, Microsoft
* Research, Silicon Valley,August 26, 2008, available at
* https://www.microsoft.com/en-us/research/wp-content/uploads/2008/08/tr-2008-141.pdf
* suggests, for its integer division algorithm, using a table to supply the first
* 8 bits of precision, then, due to the quadratic convergence nature of the
* Newton-Raphon iteration, just 2 iterations should be enough to get maximum
* precision of the division.
* By precomputing values of inverses for small denominator values, just one
* Newton-Raphson iteration is enough to reach full precision.
* This code uses the top 9 bits of the denominator as index.
*
* The AVR assembly function implements this C code using the data below:
*
* // For small divisors, it is best to directly retrieve the results
* if (d <= 110) return pgm_read_dword(&small_inv_tab[d]);
*
* // Compute initial estimation of 0x1000000/x -
* // Get most significant bit set on divider
* uint8_t idx = 0;
* uint32_t nr = d;
* if (!(nr & 0xFF0000)) {
* nr <<= 8; idx += 8;
* if (!(nr & 0xFF0000)) { nr <<= 8; idx += 8; }
* }
* if (!(nr & 0xF00000)) { nr <<= 4; idx += 4; }
* if (!(nr & 0xC00000)) { nr <<= 2; idx += 2; }
* if (!(nr & 0x800000)) { nr <<= 1; idx += 1; }
*
* // Isolate top 9 bits of the denominator, to be used as index into the initial estimation table
* uint32_t tidx = nr >> 15, // top 9 bits. bit8 is always set
* ie = inv_tab[tidx & 0xFF] + 256, // Get the table value. bit9 is always set
* x = idx <= 8 ? (ie >> (8 - idx)) : (ie << (idx - 8)); // Position the estimation at the proper place
*
* x = uint32_t((x * uint64_t(_BV(25) - x * d)) >> 24); // Refine estimation by newton-raphson. 1 iteration is enough
* const uint32_t r = _BV(24) - x * d; // Estimate remainder
* if (r >= d) x++; // Check whether to adjust result
* return uint32_t(x); // x holds the proper estimation
*/
static uint32_t get_period_inverse(uint32_t d) {
static const uint8_t inv_tab[256] PROGMEM = {
255,253,252,250,248,246,244,242,240,238,236,234,233,231,229,227,
225,224,222,220,218,217,215,213,212,210,208,207,205,203,202,200,
199,197,195,194,192,191,189,188,186,185,183,182,180,179,178,176,
175,173,172,170,169,168,166,165,164,162,161,160,158,157,156,154,
153,152,151,149,148,147,146,144,143,142,141,139,138,137,136,135,
134,132,131,130,129,128,127,126,125,123,122,121,120,119,118,117,
116,115,114,113,112,111,110,109,108,107,106,105,104,103,102,101,
100,99,98,97,96,95,94,93,92,91,90,89,88,88,87,86,
85,84,83,82,81,80,80,79,78,77,76,75,74,74,73,72,
71,70,70,69,68,67,66,66,65,64,63,62,62,61,60,59,
59,58,57,56,56,55,54,53,53,52,51,50,50,49,48,48,
47,46,46,45,44,43,43,42,41,41,40,39,39,38,37,37,
36,35,35,34,33,33,32,32,31,30,30,29,28,28,27,27,
26,25,25,24,24,23,22,22,21,21,20,19,19,18,18,17,
17,16,15,15,14,14,13,13,12,12,11,10,10,9,9,8,
8,7,7,6,6,5,5,4,4,3,3,2,2,1,0,0
};
// For small denominators, it is cheaper to directly store the result.
// For bigger ones, just ONE Newton-Raphson iteration is enough to get
// maximum precision we need
static const uint32_t small_inv_tab[111] PROGMEM = {
16777216,16777216,8388608,5592405,4194304,3355443,2796202,2396745,2097152,1864135,1677721,1525201,1398101,1290555,1198372,1118481,
1048576,986895,932067,883011,838860,798915,762600,729444,699050,671088,645277,621378,599186,578524,559240,541200,
524288,508400,493447,479349,466033,453438,441505,430185,419430,409200,399457,390167,381300,372827,364722,356962,
349525,342392,335544,328965,322638,316551,310689,305040,299593,294337,289262,284359,279620,275036,270600,266305,
262144,258111,254200,250406,246723,243148,239674,236298,233016,229824,226719,223696,220752,217885,215092,212369,
209715,207126,204600,202135,199728,197379,195083,192841,190650,188508,186413,184365,182361,180400,178481,176602,
174762,172960,171196,169466,167772,166111,164482,162885,161319,159783,158275,156796,155344,153919,152520
};
// For small divisors, it is best to directly retrieve the results
if (d <= 110) return pgm_read_dword(&small_inv_tab[d]);
uint8_t r8 = d & 0xFF,
r9 = (d >> 8) & 0xFF,
r10 = (d >> 16) & 0xFF,
r2,r3,r4,r5,r6,r7,r11,r12,r13,r14,r15,r16,r17,r18;
const uint8_t *ptab = inv_tab;
__asm__ __volatile__(
// %8:%7:%6 = interval
// r31:r30: MUST be those registers, and they must point to the inv_tab
A("clr %13") // %13 = 0
// Now we must compute
// result = 0xFFFFFF / d
// %8:%7:%6 = interval
// %16:%15:%14 = nr
// %13 = 0
// A plain division of 24x24 bits should take 388 cycles to complete. We will
// use Newton-Raphson for the calculation, and will strive to get way less cycles
// for the same result - Using C division, it takes 500cycles to complete .
A("clr %3") // idx = 0
A("mov %14,%6")
A("mov %15,%7")
A("mov %16,%8") // nr = interval
A("tst %16") // nr & 0xFF0000 == 0 ?
A("brne 2f") // No, skip this
A("mov %16,%15")
A("mov %15,%14") // nr <<= 8, %14 not needed
A("subi %3,-8") // idx += 8
A("tst %16") // nr & 0xFF0000 == 0 ?
A("brne 2f") // No, skip this
A("mov %16,%15") // nr <<= 8, %14 not needed
A("clr %15") // We clear %14
A("subi %3,-8") // idx += 8
// here %16 != 0 and %16:%15 contains at least 9 MSBits, or both %16:%15 are 0
L("2")
A("cpi %16,0x10") // (nr & 0xF00000) == 0 ?
A("brcc 3f") // No, skip this
A("swap %15") // Swap nybbles
A("swap %16") // Swap nybbles. Low nybble is 0
A("mov %14, %15")
A("andi %14,0x0F") // Isolate low nybble
A("andi %15,0xF0") // Keep proper nybble in %15
A("or %16, %14") // %16:%15 <<= 4
A("subi %3,-4") // idx += 4
L("3")
A("cpi %16,0x40") // (nr & 0xC00000) == 0 ?
A("brcc 4f") // No, skip this
A("add %15,%15")
A("adc %16,%16")
A("add %15,%15")
A("adc %16,%16") // %16:%15 <<= 2
A("subi %3,-2") // idx += 2
L("4")
A("cpi %16,0x80") // (nr & 0x800000) == 0 ?
A("brcc 5f") // No, skip this
A("add %15,%15")
A("adc %16,%16") // %16:%15 <<= 1
A("inc %3") // idx += 1
// Now %16:%15 contains its MSBit set to 1, or %16:%15 is == 0. We are now absolutely sure
// we have at least 9 MSBits available to enter the initial estimation table
L("5")
A("add %15,%15")
A("adc %16,%16") // %16:%15 = tidx = (nr <<= 1), we lose the top MSBit (always set to 1, %16 is the index into the inverse table)
A("add r30,%16") // Only use top 8 bits
A("adc r31,%13") // r31:r30 = inv_tab + (tidx)
A("lpm %14, Z") // %14 = inv_tab[tidx]
A("ldi %15, 1") // %15 = 1 %15:%14 = inv_tab[tidx] + 256
// We must scale the approximation to the proper place
A("clr %16") // %16 will always be 0 here
A("subi %3,8") // idx == 8 ?
A("breq 6f") // yes, no need to scale
A("brcs 7f") // If C=1, means idx < 8, result was negative!
// idx > 8, now %3 = idx - 8. We must perform a left shift. idx range:[1-8]
A("sbrs %3,0") // shift by 1bit position?
A("rjmp 8f") // No
A("add %14,%14")
A("adc %15,%15") // %15:16 <<= 1
L("8")
A("sbrs %3,1") // shift by 2bit position?
A("rjmp 9f") // No
A("add %14,%14")
A("adc %15,%15")
A("add %14,%14")
A("adc %15,%15") // %15:16 <<= 1
L("9")
A("sbrs %3,2") // shift by 4bits position?
A("rjmp 16f") // No
A("swap %15") // Swap nybbles. lo nybble of %15 will always be 0
A("swap %14") // Swap nybbles
A("mov %12,%14")
A("andi %12,0x0F") // isolate low nybble
A("andi %14,0xF0") // and clear it
A("or %15,%12") // %15:%16 <<= 4
L("16")
A("sbrs %3,3") // shift by 8bits position?
A("rjmp 6f") // No, we are done
A("mov %16,%15")
A("mov %15,%14")
A("clr %14")
A("jmp 6f")
// idx < 8, now %3 = idx - 8. Get the count of bits
L("7")
A("neg %3") // %3 = -idx = count of bits to move right. idx range:[1...8]
A("sbrs %3,0") // shift by 1 bit position ?
A("rjmp 10f") // No, skip it
A("asr %15") // (bit7 is always 0 here)
A("ror %14")
L("10")
A("sbrs %3,1") // shift by 2 bit position ?
A("rjmp 11f") // No, skip it
A("asr %15") // (bit7 is always 0 here)
A("ror %14")
A("asr %15") // (bit7 is always 0 here)
A("ror %14")
L("11")
A("sbrs %3,2") // shift by 4 bit position ?
A("rjmp 12f") // No, skip it
A("swap %15") // Swap nybbles
A("andi %14, 0xF0") // Lose the lowest nybble
A("swap %14") // Swap nybbles. Upper nybble is 0
A("or %14,%15") // Pass nybble from upper byte
A("andi %15, 0x0F") // And get rid of that nybble
L("12")
A("sbrs %3,3") // shift by 8 bit position ?
A("rjmp 6f") // No, skip it
A("mov %14,%15")
A("clr %15")
L("6") // %16:%15:%14 = initial estimation of 0x1000000 / d
// Now, we must refine the estimation present on %16:%15:%14 using 1 iteration
// of Newton-Raphson. As it has a quadratic convergence, 1 iteration is enough
// to get more than 18bits of precision (the initial table lookup gives 9 bits of
// precision to start from). 18bits of precision is all what is needed here for result
// %8:%7:%6 = d = interval
// %16:%15:%14 = x = initial estimation of 0x1000000 / d
// %13 = 0
// %3:%2:%1:%0 = working accumulator
// Compute 1<<25 - x*d. Result should never exceed 25 bits and should always be positive
A("clr %0")
A("clr %1")
A("clr %2")
A("ldi %3,2") // %3:%2:%1:%0 = 0x2000000
A("mul %6,%14") // r1:r0 = LO(d) * LO(x)
A("sub %0,r0")
A("sbc %1,r1")
A("sbc %2,%13")
A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * LO(x)
A("mul %7,%14") // r1:r0 = MI(d) * LO(x)
A("sub %1,r0")
A("sbc %2,r1" )
A("sbc %3,%13") // %3:%2:%1:%0 -= MI(d) * LO(x) << 8
A("mul %8,%14") // r1:r0 = HI(d) * LO(x)
A("sub %2,r0")
A("sbc %3,r1") // %3:%2:%1:%0 -= MIL(d) * LO(x) << 16
A("mul %6,%15") // r1:r0 = LO(d) * MI(x)
A("sub %1,r0")
A("sbc %2,r1")
A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * MI(x) << 8
A("mul %7,%15") // r1:r0 = MI(d) * MI(x)
A("sub %2,r0")
A("sbc %3,r1") // %3:%2:%1:%0 -= MI(d) * MI(x) << 16
A("mul %8,%15") // r1:r0 = HI(d) * MI(x)
A("sub %3,r0") // %3:%2:%1:%0 -= MIL(d) * MI(x) << 24
A("mul %6,%16") // r1:r0 = LO(d) * HI(x)
A("sub %2,r0")
A("sbc %3,r1") // %3:%2:%1:%0 -= LO(d) * HI(x) << 16
A("mul %7,%16") // r1:r0 = MI(d) * HI(x)
A("sub %3,r0") // %3:%2:%1:%0 -= MI(d) * HI(x) << 24
// %3:%2:%1:%0 = (1<<25) - x*d [169]
// We need to multiply that result by x, and we are only interested in the top 24bits of that multiply
// %16:%15:%14 = x = initial estimation of 0x1000000 / d
// %3:%2:%1:%0 = (1<<25) - x*d = acc
// %13 = 0
// result = %11:%10:%9:%5:%4
A("mul %14,%0") // r1:r0 = LO(x) * LO(acc)
A("mov %4,r1")
A("clr %5")
A("clr %9")
A("clr %10")
A("clr %11") // %11:%10:%9:%5:%4 = LO(x) * LO(acc) >> 8
A("mul %15,%0") // r1:r0 = MI(x) * LO(acc)
A("add %4,r0")
A("adc %5,r1")
A("adc %9,%13")
A("adc %10,%13")
A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * LO(acc)
A("mul %16,%0") // r1:r0 = HI(x) * LO(acc)
A("add %5,r0")
A("adc %9,r1")
A("adc %10,%13")
A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * LO(acc) << 8
A("mul %14,%1") // r1:r0 = LO(x) * MIL(acc)
A("add %4,r0")
A("adc %5,r1")
A("adc %9,%13")
A("adc %10,%13")
A("adc %11,%13") // %11:%10:%9:%5:%4 = LO(x) * MIL(acc)
A("mul %15,%1") // r1:r0 = MI(x) * MIL(acc)
A("add %5,r0")
A("adc %9,r1")
A("adc %10,%13")
A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * MIL(acc) << 8
A("mul %16,%1") // r1:r0 = HI(x) * MIL(acc)
A("add %9,r0")
A("adc %10,r1")
A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * MIL(acc) << 16
A("mul %14,%2") // r1:r0 = LO(x) * MIH(acc)
A("add %5,r0")
A("adc %9,r1")
A("adc %10,%13")
A("adc %11,%13") // %11:%10:%9:%5:%4 = LO(x) * MIH(acc) << 8
A("mul %15,%2") // r1:r0 = MI(x) * MIH(acc)
A("add %9,r0")
A("adc %10,r1")
A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * MIH(acc) << 16
A("mul %16,%2") // r1:r0 = HI(x) * MIH(acc)
A("add %10,r0")
A("adc %11,r1") // %11:%10:%9:%5:%4 += MI(x) * MIH(acc) << 24
A("mul %14,%3") // r1:r0 = LO(x) * HI(acc)
A("add %9,r0")
A("adc %10,r1")
A("adc %11,%13") // %11:%10:%9:%5:%4 = LO(x) * HI(acc) << 16
A("mul %15,%3") // r1:r0 = MI(x) * HI(acc)
A("add %10,r0")
A("adc %11,r1") // %11:%10:%9:%5:%4 += MI(x) * HI(acc) << 24
A("mul %16,%3") // r1:r0 = HI(x) * HI(acc)
A("add %11,r0") // %11:%10:%9:%5:%4 += MI(x) * HI(acc) << 32
// At this point, %11:%10:%9 contains the new estimation of x.
// Finally, we must correct the result. Estimate remainder as
// (1<<24) - x*d
// %11:%10:%9 = x
// %8:%7:%6 = d = interval" "\n\t"
A("ldi %3,1")
A("clr %2")
A("clr %1")
A("clr %0") // %3:%2:%1:%0 = 0x1000000
A("mul %6,%9") // r1:r0 = LO(d) * LO(x)
A("sub %0,r0")
A("sbc %1,r1")
A("sbc %2,%13")
A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * LO(x)
A("mul %7,%9") // r1:r0 = MI(d) * LO(x)
A("sub %1,r0")
A("sbc %2,r1")
A("sbc %3,%13") // %3:%2:%1:%0 -= MI(d) * LO(x) << 8
A("mul %8,%9") // r1:r0 = HI(d) * LO(x)
A("sub %2,r0")
A("sbc %3,r1") // %3:%2:%1:%0 -= MIL(d) * LO(x) << 16
A("mul %6,%10") // r1:r0 = LO(d) * MI(x)
A("sub %1,r0")
A("sbc %2,r1")
A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * MI(x) << 8
A("mul %7,%10") // r1:r0 = MI(d) * MI(x)
A("sub %2,r0")
A("sbc %3,r1") // %3:%2:%1:%0 -= MI(d) * MI(x) << 16
A("mul %8,%10") // r1:r0 = HI(d) * MI(x)
A("sub %3,r0") // %3:%2:%1:%0 -= MIL(d) * MI(x) << 24
A("mul %6,%11") // r1:r0 = LO(d) * HI(x)
A("sub %2,r0")
A("sbc %3,r1") // %3:%2:%1:%0 -= LO(d) * HI(x) << 16
A("mul %7,%11") // r1:r0 = MI(d) * HI(x)
A("sub %3,r0") // %3:%2:%1:%0 -= MI(d) * HI(x) << 24
// %3:%2:%1:%0 = r = (1<<24) - x*d
// %8:%7:%6 = d = interval
// Perform the final correction
A("sub %0,%6")
A("sbc %1,%7")
A("sbc %2,%8") // r -= d
A("brcs 14f") // if ( r >= d)
// %11:%10:%9 = x
A("ldi %3,1")
A("add %9,%3")
A("adc %10,%13")
A("adc %11,%13") // x++
L("14")
// Estimation is done. %11:%10:%9 = x
A("clr __zero_reg__") // Make C runtime happy
// [211 cycles total]
: "=r" (r2),
"=r" (r3),
"=r" (r4),
"=d" (r5),
"=r" (r6),
"=r" (r7),
"+r" (r8),
"+r" (r9),
"+r" (r10),
"=d" (r11),
"=r" (r12),
"=r" (r13),
"=d" (r14),
"=d" (r15),
"=d" (r16),
"=d" (r17),
"=d" (r18),
"+z" (ptab)
:
: "r0", "r1", "cc"
);
// Return the result
return r11 | (uint16_t(r12) << 8) | (uint32_t(r13) << 16);
}
#else
// All other 32-bit MPUs can easily do inverse using hardware division,
// so we don't need to reduce precision or to use assembly language at all.
// This routine, for all other archs, returns 0x100000000 / d ~= 0xFFFFFFFF / d
FORCE_INLINE static uint32_t get_period_inverse(const uint32_t d) {
return d ? 0xFFFFFFFF / d : 0xFFFFFFFF;
}
#endif
#endif
#define MINIMAL_STEP_RATE 120
/**
* Get the current block for processing
* and mark the block as busy.
* Return nullptr if the buffer is empty
* or if there is a first-block delay.
*
* WARNING: Called from Stepper ISR context!
*/
block_t* Planner::get_current_block() {
// Get the number of moves in the planner queue so far
const uint8_t nr_moves = movesplanned();
// If there are any moves queued ...
if (nr_moves) {
// If there is still delay of delivery of blocks running, decrement it
if (delay_before_delivering) {
--delay_before_delivering;
// If the number of movements queued is less than 3, and there is still time
// to wait, do not deliver anything
if (nr_moves < 3 && delay_before_delivering) return nullptr;
delay_before_delivering = 0;
}
// If we are here, there is no excuse to deliver the block
block_t * const block = &block_buffer[block_buffer_tail];
// No trapezoid calculated? Don't execute yet.
if (block->flag.recalculate) return nullptr;
// We can't be sure how long an active block will take, so don't count it.
TERN_(HAS_WIRED_LCD, block_buffer_runtime_us -= block->segment_time_us);
// As this block is busy, advance the nonbusy block pointer
block_buffer_nonbusy = next_block_index(block_buffer_tail);
// Push block_buffer_planned pointer, if encountered.
if (block_buffer_tail == block_buffer_planned)
block_buffer_planned = block_buffer_nonbusy;
// Return the block
return block;
}
// The queue became empty
TERN_(HAS_WIRED_LCD, clear_block_buffer_runtime()); // paranoia. Buffer is empty now - so reset accumulated time to zero.
return nullptr;
}
/**
* Calculate trapezoid parameters, multiplying the entry- and exit-speeds
* by the provided factors. Requires that initial_rate and final_rate are
* no less than sqrt(block->acceleration_steps_per_s2 / 2), which is ensured
* through minimum_planner_speed_sqr in _populate_block().
**
* ############ VERY IMPORTANT ############
* NOTE that the PRECONDITION to call this function is that the block is
* NOT BUSY and it is marked as RECALCULATE. That WARRANTIES the Stepper ISR
* is not and will not use the block while we modify it, so it is safe to
* alter its values.
*/
void Planner::calculate_trapezoid_for_block(block_t * const block, const_float_t entry_factor, const_float_t exit_factor) {
uint32_t initial_rate = LROUND(block->nominal_rate * entry_factor),
final_rate = LROUND(block->nominal_rate * exit_factor); // (steps per second)
// Legacy check against supposed timer overflow. However Stepper::calc_timer_interval() already
// should protect against it. But removing this code produces judder in direction-switching
// moves. This is because the current discrete stepping math diverges from physical motion under
// constant acceleration when acceleration_steps_per_s2 is large compared to initial/final_rate.
NOLESS(initial_rate, uint32_t(MINIMAL_STEP_RATE)); // Enforce the minimum speed
NOLESS(final_rate, uint32_t(MINIMAL_STEP_RATE));
NOMORE(initial_rate, block->nominal_rate); // NOTE: The nominal rate may be less than MINIMAL_STEP_RATE!
NOMORE(final_rate, block->nominal_rate);
#if ANY(S_CURVE_ACCELERATION, LIN_ADVANCE)
// If we have some plateau time, the cruise rate will be the nominal rate
uint32_t cruise_rate = block->nominal_rate;
#endif
// Steps for acceleration, plateau and deceleration
int32_t plateau_steps = block->step_event_count,
accelerate_steps = 0,
decelerate_steps = 0;
const int32_t accel = block->acceleration_steps_per_s2;
float inverse_accel = 0.0f;
if (accel != 0) {
inverse_accel = 1.0f / accel;
const float half_inverse_accel = 0.5f * inverse_accel,
nominal_rate_sq = FLOAT_SQ(block->nominal_rate),
// Steps required for acceleration, deceleration to/from nominal rate
decelerate_steps_float = half_inverse_accel * (nominal_rate_sq - FLOAT_SQ(final_rate)),
accelerate_steps_float = half_inverse_accel * (nominal_rate_sq - FLOAT_SQ(initial_rate));
// Aims to fully reach nominal and final rates
accelerate_steps = CEIL(accelerate_steps_float);
decelerate_steps = CEIL(decelerate_steps_float);
// Steps between acceleration and deceleration, if any
plateau_steps -= accelerate_steps + decelerate_steps;
// Does accelerate_steps + decelerate_steps exceed step_event_count?
// Then we can't possibly reach the nominal rate, there will be no cruising.
// Calculate accel / braking time in order to reach the final_rate exactly
// at the end of this block.
if (plateau_steps < 0) {
accelerate_steps = LROUND((block->step_event_count + accelerate_steps_float - decelerate_steps_float) * 0.5f);
LIMIT(accelerate_steps, 0, int32_t(block->step_event_count));
decelerate_steps = block->step_event_count - accelerate_steps;
#if ANY(S_CURVE_ACCELERATION, LIN_ADVANCE)
// We won't reach the cruising rate. Let's calculate the speed we will reach
NOMORE(cruise_rate, final_speed(initial_rate, accel, accelerate_steps));
#endif
}
}
#if ENABLED(S_CURVE_ACCELERATION)
const float rate_factor = inverse_accel * (STEPPER_TIMER_RATE);
// Jerk controlled speed requires to express speed versus time, NOT steps
uint32_t acceleration_time = rate_factor * float(cruise_rate - initial_rate),
deceleration_time = rate_factor * float(cruise_rate - final_rate),
// And to offload calculations from the ISR, we also calculate the inverse of those times here
acceleration_time_inverse = get_period_inverse(acceleration_time),
deceleration_time_inverse = get_period_inverse(deceleration_time);
#endif
// Store new block parameters
block->accelerate_before = accelerate_steps;
block->decelerate_start = block->step_event_count - decelerate_steps;
block->initial_rate = initial_rate;
#if ENABLED(S_CURVE_ACCELERATION)
block->acceleration_time = acceleration_time;
block->deceleration_time = deceleration_time;
block->acceleration_time_inverse = acceleration_time_inverse;
block->deceleration_time_inverse = deceleration_time_inverse;
block->cruise_rate = cruise_rate;
#endif
block->final_rate = final_rate;
#if ENABLED(LIN_ADVANCE)
if (block->la_advance_rate) {
const float comp = extruder_advance_K[E_INDEX_N(block->extruder)] * block->steps.e / block->step_event_count;
block->max_adv_steps = cruise_rate * comp;
block->final_adv_steps = final_rate * comp;
}
#endif
#if ENABLED(LASER_POWER_TRAP)
/**
* Laser Trapezoid Calculations
*
* Approximate the trapezoid with the laser, incrementing the power every `trap_ramp_entry_incr`
* steps while accelerating, and decrementing the power every `trap_ramp_exit_decr` while decelerating,
* to keep power proportional to feedrate. Laser power trap will reduce the initial power to no less
* than the laser_power_floor value. Based on the number of calculated accel/decel steps the power is
* distributed over the trapezoid entry- and exit-ramp steps.
*
* trap_ramp_active_pwr - The active power is initially set at a reduced level factor of initial
* power / accel steps and will be additively incremented using a trap_ramp_entry_incr value for each
* accel step processed later in the stepper code. The trap_ramp_exit_decr value is calculated as
* power / decel steps and is also adjusted to no less than the power floor.
*
* If the power == 0 the inline mode variables need to be set to zero to prevent stepper processing.
* The method allows for simpler non-powered moves like G0 or G28.
*
* Laser Trap Power works for all Jerk and Curve modes; however Arc-based moves will have issues since
* the segments are usually too small.
*/
if (cutter.cutter_mode == CUTTER_MODE_CONTINUOUS) {
if (planner.laser_inline.status.isPowered && planner.laser_inline.status.isEnabled) {
if (block->laser.power > 0) {
NOLESS(block->laser.power, laser_power_floor);
block->laser.trap_ramp_active_pwr = (block->laser.power - laser_power_floor) * (initial_rate / float(block->nominal_rate)) + laser_power_floor;
block->laser.trap_ramp_entry_incr = (block->laser.power - block->laser.trap_ramp_active_pwr) / accelerate_steps;
float laser_pwr = block->laser.power * (final_rate / float(block->nominal_rate));
NOLESS(laser_pwr, laser_power_floor);
block->laser.trap_ramp_exit_decr = (block->laser.power - laser_pwr) / decelerate_steps;
#if ENABLED(DEBUG_LASER_TRAP)
SERIAL_ECHO_MSG("lp:",block->laser.power);
SERIAL_ECHO_MSG("as:",accelerate_steps);
SERIAL_ECHO_MSG("ds:",decelerate_steps);
SERIAL_ECHO_MSG("p.trap:",block->laser.trap_ramp_active_pwr);
SERIAL_ECHO_MSG("p.incr:",block->laser.trap_ramp_entry_incr);
SERIAL_ECHO_MSG("p.decr:",block->laser.trap_ramp_exit_decr);
#endif
}
else {
block->laser.trap_ramp_active_pwr = 0;
block->laser.trap_ramp_entry_incr = 0;
block->laser.trap_ramp_exit_decr = 0;
}
}
}
#endif // LASER_POWER_TRAP
}
/**
* PLANNER SPEED DEFINITION
* +--------+ <- current->nominal_speed
* / \
* current->entry_speed -> + \
* | + <- next->entry_speed (aka exit speed)
* +-------------+
* time -->
*
* Recalculates the motion plan according to the following basic guidelines:
*
* 1. Go over every feasible block sequentially in reverse order and calculate the junction speeds
* (i.e. current->entry_speed) such that:
* a. No junction speed exceeds the pre-computed maximum junction speed limit or nominal speeds of
* neighboring blocks.
* b. A block entry speed cannot exceed one reverse-computed from its exit speed (next->entry_speed)
* with a maximum allowable deceleration over the block travel distance.
* c. The last (or newest appended) block is planned from safe_exit_speed_sqr.
* 2. Go over every block in chronological (forward) order and dial down junction speed values if
* a. The exit speed exceeds the one forward-computed from its entry speed with the maximum allowable
* acceleration over the block travel distance.
*
* When these stages are complete, the planner will have maximized the velocity profiles throughout the all
* of the planner blocks, where every block is operating at its maximum allowable acceleration limits. In
* other words, for all of the blocks in the planner, the plan is optimal and no further speed improvements
* are possible. If a new block is added to the buffer, the plan is recomputed according to the said
* guidelines for a new optimal plan.
*
* To increase computational efficiency of these guidelines, a set of planner block pointers have been
* created to indicate stop-compute points for when the planner guidelines cannot logically make any further
* changes or improvements to the plan when in normal operation and new blocks are streamed and added to the
* planner buffer. For example, if a subset of sequential blocks in the planner have been planned and are
* bracketed by junction velocities at their maximums (or by the first planner block as well), no new block
* added to the planner buffer will alter the velocity profiles within them. So we no longer have to compute
* them. Or, if a set of sequential blocks from the first block in the planner (or a optimal stop-compute
* point) are all accelerating, they are all optimal and can not be altered by a new block added to the
* planner buffer, as this will only further increase the plan speed to chronological blocks until a maximum
* junction velocity is reached. However, if the operational conditions of the plan changes from infrequently
* used feed holds or feedrate overrides, the stop-compute pointers will be reset and the entire plan is
* recomputed as stated in the general guidelines.
*
* Planner buffer index mapping:
* - block_buffer_tail: Points to the beginning of the planner buffer. First to be executed or being executed.
* - block_buffer_head: Points to the buffer block after the last block in the buffer. Used to indicate whether
* the buffer is full or empty. As described for standard ring buffers, this block is always empty.
* - block_buffer_planned: Points to the first buffer block after the last optimally planned block for normal
* streaming operating conditions. Use for planning optimizations by avoiding recomputing parts of the
* planner buffer that don't change with the addition of a new block, as describe above. In addition,
* this block can never be less than block_buffer_tail and will always be pushed forward and maintain
* this requirement when encountered by the Planner::release_current_block() routine during a cycle.
*
* NOTE: Since the planner only computes on what's in the planner buffer, some motions with many short
* segments (e.g., complex curves) may seem to move slowly. This is because there simply isn't
* enough combined distance traveled in the entire buffer to accelerate up to the nominal speed and
* then decelerate to a complete stop at the end of the buffer, as stated by the guidelines. If this
* happens and becomes an annoyance, there are a few simple solutions:
*
* - Maximize the machine acceleration. The planner will be able to compute higher velocity profiles
* within the same combined distance.
*
* - Maximize line motion(s) distance per block to a desired tolerance. The more combined distance the
* planner has to use, the faster it can go.
*
* - Maximize the planner buffer size. This also will increase the combined distance for the planner to
* compute over. It also increases the number of computations the planner has to perform to compute an
* optimal plan, so select carefully.
*