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motion.cpp
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motion.cpp
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/*
This file is part of Repetier-Firmware.
Repetier-Firmware 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.
Repetier-Firmware 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 Repetier-Firmware. If not, see <http://www.gnu.org/licenses/>.
This firmware is a nearly complete rewrite of the sprinter firmware
by kliment (https://github.com/kliment/Sprinter)
which based on Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
Functions in this file are used to communicate using ascii or repetier protocol.
*/
#include "Repetier.h"
// ================ Sanity checks ================
#ifndef STEP_DOUBLER_FREQUENCY
#error Please add new parameter STEP_DOUBLER_FREQUENCY to your configuration.
#else
#if STEP_DOUBLER_FREQUENCY < 7000 || STEP_DOUBLER_FREQUENCY > 20000
#if CPU_ARCH == ARCH_AVR
#error STEP_DOUBLER_FREQUENCY should be in range 10000-16000.
#endif
#endif
#endif
#ifdef EXTRUDER_SPEED
#error EXTRUDER_SPEED is not used any more. Values are now taken from extruder definition.
#endif
#ifdef ENDSTOPPULLUPS
#error ENDSTOPPULLUPS is now replaced by individual pullup configuration!
#endif
#ifdef EXT0_PID_PGAIN
#error The PID system has changed. Please use the new float number options!
#endif
// ####################################################################################
// # No configuration below this line - just some error checking #
// ####################################################################################
#ifdef SUPPORT_MAX6675
#if !defined SCK_PIN || !defined MOSI_PIN || !defined MISO_PIN
#error For MAX6675 support, you need to define SCK_PIN, MISO_PIN and MOSI_PIN in pins.h
#endif
#endif
#if X_STEP_PIN < 0 || Y_STEP_PIN < 0 || Z_STEP_PIN < 0
#error One of the following pins is not assigned: X_STEP_PIN,Y_STEP_PIN,Z_STEP_PIN
#endif
#if EXT0_STEP_PIN < 0 && NUM_EXTRUDER > 0
#error EXT0_STEP_PIN not set to a pin number.
#endif
#if EXT0_DIR_PIN < 0 && NUM_EXTRUDER > 0
#error EXT0_DIR_PIN not set to a pin number.
#endif
#if PRINTLINE_CACHE_SIZE < 4
#error PRINTLINE_CACHE_SIZE must be at least 5
#endif
//Inactivity shutdown variables
millis_t previousMillisCmd = 0;
millis_t maxInactiveTime = MAX_INACTIVE_TIME * 1000L;
millis_t stepperInactiveTime = STEPPER_INACTIVE_TIME * 1000L;
long baudrate = BAUDRATE; ///< Communication speed rate.
#if USE_ADVANCE
#if ENABLE_QUADRATIC_ADVANCE
int maxadv = 0;
#endif
int maxadv2 = 0;
float maxadvspeed = 0;
#endif
uint8_t pwm_pos[NUM_PWM]; // 0-NUM_EXTRUDER = Heater 0-NUM_EXTRUDER of extruder, NUM_EXTRUDER = Heated bed, NUM_EXTRUDER+1 Board fan, NUM_EXTRUDER+2 = Fan
volatile int waitRelax = 0; // Delay filament relax at the end of print, could be a simple timeout
PrintLine PrintLine::lines[PRINTLINE_CACHE_SIZE]; ///< Cache for print moves.
PrintLine* PrintLine::cur = NULL; ///< Current printing line
#if CPU_ARCH == ARCH_ARM
volatile bool PrintLine::nlFlag = false;
#endif
ufast8_t PrintLine::linesWritePos = 0; ///< Position where we write the next cached line move.
volatile ufast8_t PrintLine::linesCount = 0; ///< Number of lines cached 0 = nothing to do.
ufast8_t PrintLine::linesPos = 0; ///< Position for executing line movement.
/**
Move printer the given number of steps. Puts the move into the queue. Used by e.g. homing commands.
Does not consider rotation but updates position correctly considering rotation. This can be used to
correct positions when changing tools.
\param x Distance in x direction in steps
\param y Distance in y direction in steps
\param z Distance in z direction in steps
\param e Distance in e direction in steps
\param feedrate Feed rate to be used in mm/s. Gets new active feedrate.
\param waitEnd If true will block until move is finished.
\param checkEndstop True if triggering endstop should stop move.
\param pathOptimize If false start and end speeds get fixed to minimum values.
*/
void PrintLine::moveRelativeDistanceInSteps(int32_t x, int32_t y, int32_t z, int32_t e, float feedrate, bool waitEnd, bool checkEndstop, bool pathOptimize) {
Printer::unparkSafety();
#if NUM_EXTRUDER > 0
if (Printer::debugDryrun() || (MIN_EXTRUDER_TEMP > 30 && Extruder::current->tempControl.currentTemperatureC < MIN_EXTRUDER_TEMP && !Printer::isColdExtrusionAllowed() && Extruder::current->tempControl.sensorType != 0))
e = 0; // should not be allowed for current temperature
#endif
#if MOVE_X_WHEN_HOMED == 1 || MOVE_Y_WHEN_HOMED == 1 || MOVE_Z_WHEN_HOMED == 1
if (!Printer::isHoming() && !Printer::isNoDestinationCheck()) {
#if MOVE_X_WHEN_HOMED
if (!Printer::isXHomed())
x = 0;
#endif
#if MOVE_Y_WHEN_HOMED
if (!Printer::isYHomed())
y = 0;
#endif
#if MOVE_Z_WHEN_HOMED
if (!Printer::isZHomed() && !Printer::isZProbingActive())
z = 0;
#endif
}
#endif // MOVE_X_WHEN_HOMED == 1 || MOVE_Y_WHEN_HOMED == 1 || MOVE_Z_WHEN_HOMED == 1
float savedFeedrate = Printer::feedrate;
Printer::destinationPositionTransformed[X_AXIS] = Printer::currentPositionTransformed[X_AXIS] + x * Printer::invAxisStepsPerMM[X_AXIS];
Printer::destinationPositionTransformed[Y_AXIS] = Printer::currentPositionTransformed[Y_AXIS] + y * Printer::invAxisStepsPerMM[Y_AXIS];
Printer::destinationPositionTransformed[Z_AXIS] = Printer::currentPositionTransformed[Z_AXIS] + z * Printer::invAxisStepsPerMM[Z_AXIS];
Printer::destinationPositionTransformed[E_AXIS] = Printer::currentPositionTransformed[E_AXIS] + e * Printer::invAxisStepsPerMM[E_AXIS];
Printer::destinationSteps[X_AXIS] = Printer::currentPositionSteps[X_AXIS] + x;
Printer::destinationSteps[Y_AXIS] = Printer::currentPositionSteps[Y_AXIS] + y;
Printer::destinationSteps[Z_AXIS] = Printer::currentPositionSteps[Z_AXIS] + z;
Printer::destinationSteps[E_AXIS] = Printer::currentPositionSteps[E_AXIS] + e;
Printer::feedrate = feedrate;
#if NONLINEAR_SYSTEM
if (!queueNonlinearMove(checkEndstop, pathOptimize, false)) {
Com::printWarningFLN(PSTR("moveRelativeDistanceInSteps / queueDeltaMove returns error"));
}
#else
#if DISTORTION_CORRECTION
Printer::destinationSteps[Z_AXIS] -= Printer::zCorrectionStepsIncluded; // correct as it will be added later in Cartesian move computation
#endif
queueCartesianMove(checkEndstop, pathOptimize);
#endif
Printer::feedrate = savedFeedrate;
Printer::updateCurrentPosition(false);
if (waitEnd)
Commands::waitUntilEndOfAllMoves();
previousMillisCmd = HAL::timeInMilliseconds();
}
/** Adds the steps converted to mm to the lastCmdPos position and moves to that position using Printer::moveToReal.
Will use Printer::isPositionAllowed to prevent illegal moves.
\param x Distance in x direction in steps
\param y Distance in y direction in steps
\param z Distance in z direction in steps
\param e Distance in e direction in steps
\param feedrate Feed rate to be used in mm/s. Gets new active feedrate.
\param waitEnd If true will block until move is finished.
\param pathOptimize If false start and end speeds get fixed to minimum values.
*/
void PrintLine::moveRelativeDistanceInStepsReal(int32_t x, int32_t y, int32_t z, int32_t e, float feedrate, bool waitEnd, bool pathOptimize) {
Printer::unparkSafety();
#if MOVE_X_WHEN_HOMED == 1 || MOVE_Y_WHEN_HOMED == 1 || MOVE_Z_WHEN_HOMED == 1
if (!Printer::isHoming() && !Printer::isNoDestinationCheck()) { // prevent movements when not homed
#if MOVE_X_WHEN_HOMED
if (!Printer::isXHomed())
x = 0;
#endif
#if MOVE_Y_WHEN_HOMED
if (!Printer::isYHomed())
y = 0;
#endif
#if MOVE_Z_WHEN_HOMED
if (!Printer::isZHomed() && !Printer::isZProbingActive())
z = 0;
#endif
}
#endif // MOVE_X_WHEN_HOMED == 1 || MOVE_Y_WHEN_HOMED == 1 || MOVE_Z_WHEN_HOMED == 1
Printer::lastCmdPos[X_AXIS] += x * Printer::invAxisStepsPerMM[X_AXIS];
Printer::lastCmdPos[Y_AXIS] += y * Printer::invAxisStepsPerMM[Y_AXIS];
Printer::lastCmdPos[Z_AXIS] += z * Printer::invAxisStepsPerMM[Z_AXIS];
#if LAZY_DUAL_X_AXIS
Printer::sledParked = false;
#endif
if (!Printer::isPositionAllowed(Printer::lastCmdPos[X_AXIS], Printer::lastCmdPos[Y_AXIS], Printer::lastCmdPos[Z_AXIS])) {
return; // ignore move
}
#if NUM_EXTRUDER > 0
if (Printer::debugDryrun() || (MIN_EXTRUDER_TEMP > 30 && Extruder::current->tempControl.currentTemperatureC < MIN_EXTRUDER_TEMP && !Printer::isColdExtrusionAllowed() && Extruder::current->tempControl.sensorType != 0))
e = 0; // should not be allowed for current temperature
#endif
Printer::moveToReal(Printer::lastCmdPos[X_AXIS], Printer::lastCmdPos[Y_AXIS], Printer::lastCmdPos[Z_AXIS],
(Printer::currentPositionSteps[E_AXIS] + e) * Printer::invAxisStepsPerMM[E_AXIS], feedrate, pathOptimize);
Printer::updateCurrentPosition();
if (waitEnd)
Commands::waitUntilEndOfAllMoves();
previousMillisCmd = HAL::timeInMilliseconds();
}
#if !NONLINEAR_SYSTEM
#if DISTORTION_CORRECTION
/* Special version which adds distortion correction to z. Gets called from queueCartesianMove if needed. */
void PrintLine::queueCartesianSegmentTo(uint8_t check_endstops, uint8_t pathOptimize) {
// Correct the bumps
Printer::zCorrectionStepsIncluded = Printer::distortion.correct(Printer::destinationSteps[X_AXIS], Printer::destinationSteps[Y_AXIS], Printer::destinationSteps[Z_AXIS]);
Printer::destinationSteps[Z_AXIS] += Printer::zCorrectionStepsIncluded;
#if DEBUG_DISTORTION
Com::printF(PSTR("zCorr:"), Printer::zCorrectionStepsIncluded * Printer::invAxisStepsPerMM[Z_AXIS], 3);
Com::printF(PSTR(" atX:"), Printer::destinationSteps[X_AXIS] * Printer::invAxisStepsPerMM[X_AXIS]);
Com::printFLN(PSTR(" atY:"), Printer::destinationSteps[Y_AXIS] * Printer::invAxisStepsPerMM[Y_AXIS]);
#endif
PrintLine::waitForXFreeLines(1);
uint8_t newPath = PrintLine::insertWaitMovesIfNeeded(pathOptimize, 0);
PrintLine* p = PrintLine::getNextWriteLine();
float axisDistanceMM[E_AXIS_ARRAY]; // Axis movement in mm
p->flags = (check_endstops ? FLAG_CHECK_ENDSTOPS : 0);
#if MIXING_EXTRUDER
if (Printer::isAllEMotors()) {
p->flags |= FLAG_ALL_E_MOTORS;
}
#endif
p->joinFlags = 0;
if (!pathOptimize)
p->setEndSpeedFixed(true);
p->dir = 0;
//Find direction
p->secondSpeed = Printer::fanSpeed;
for (fast8_t axis = 0; axis < E_AXIS; axis++) {
p->delta[axis] = Printer::destinationSteps[axis] - Printer::currentPositionSteps[axis];
axisDistanceMM[axis] = fabs(Printer::destinationPositionTransformed[axis] - Printer::currentPositionTransformed[axis]);
if (p->delta[axis] >= 0) {
p->setPositiveDirectionForAxis(axis);
} else {
p->delta[axis] = -p->delta[axis];
}
if (p->delta[axis] != 0) {
p->setMoveOfAxis(axis);
}
Printer::currentPositionSteps[axis] = Printer::destinationSteps[axis];
Printer::currentPositionTransformed[axis] = Printer::destinationPositionTransformed[axis];
}
// special case E-Axis
p->delta[E_AXIS] = Printer::destinationSteps[E_AXIS] - Printer::currentPositionSteps[E_AXIS];
axisDistanceMM[E_AXIS] = (Printer::destinationPositionTransformed[E_AXIS] - Printer::currentPositionTransformed[E_AXIS]) * Printer::extrusionFactor;
if (Printer::mode == PRINTER_MODE_FFF) {
Printer::extrudeMultiplyError += axisDistanceMM[E_AXIS] * Printer::axisStepsPerMM[E_AXIS];
p->delta[E_AXIS] = lroundf(Printer::extrudeMultiplyError);
Printer::extrudeMultiplyError -= p->delta[E_AXIS];
Printer::filamentPrinted += p->delta[E_AXIS] * Printer::invAxisStepsPerMM[E_AXIS];
}
#if defined(SUPPORT_LASER) && SUPPORT_LASER
else if (Printer::mode == PRINTER_MODE_LASER) {
p->secondSpeed = ((p->delta[X_AXIS] != 0 || p->delta[Y_AXIS] != 0) && (LaserDriver::laserOn || p->delta[E_AXIS] != 0) ? LaserDriver::intensity : 0);
p->delta[E_AXIS] = 0;
}
#endif
axisDistanceMM[E_AXIS] = fabs(axisDistanceMM[E_AXIS]);
if (p->delta[E_AXIS] >= 0) {
p->setPositiveDirectionForAxis(E_AXIS);
} else {
p->delta[E_AXIS] = -p->delta[E_AXIS];
}
if (axisDistanceMM[E_AXIS] != 0) {
p->setMoveOfAxis(E_AXIS);
}
Printer::currentPositionSteps[E_AXIS] = Printer::destinationSteps[E_AXIS];
Printer::currentPositionTransformed[E_AXIS] = Printer::destinationPositionTransformed[E_AXIS];
if (p->isNoMove()) {
if (newPath) { // need to delete dummy elements, otherwise commands can get locked.
PrintLine::resetPathPlanner();
}
return; // No steps included
}
float xydist2;
#if ENABLE_BACKLASH_COMPENSATION
if ((p->isXYZMove()) && ((p->dir & XYZ_DIRPOS) ^ (Printer::backlashDir & XYZ_DIRPOS)) & (Printer::backlashDir >> 3)) { // We need to compensate backlash, add a move
PrintLine::waitForXFreeLines(2);
uint8_t wpos2 = PrintLine::linesWritePos + 1;
if (wpos2 >= PRINTLINE_CACHE_SIZE)
wpos2 = 0;
PrintLine* p2 = &PrintLine::lines[wpos2];
memcpy(p2, p, sizeof(PrintLine)); // Move current data to p2
uint8_t changed = (p->dir & XYZ_DIRPOS) ^ (Printer::backlashDir & XYZ_DIRPOS);
float back_diff[4]; // Axis movement in mm
back_diff[E_AXIS] = 0;
back_diff[X_AXIS] = (changed & 1 ? (p->isXPositiveMove() ? Printer::backlashX : -Printer::backlashX) : 0);
back_diff[Y_AXIS] = (changed & 2 ? (p->isYPositiveMove() ? Printer::backlashY : -Printer::backlashY) : 0);
back_diff[Z_AXIS] = (changed & 4 ? (p->isZPositiveMove() ? Printer::backlashZ : -Printer::backlashZ) : 0);
p->dir &= XYZ_DIRPOS; // x,y and z are already correct
for (uint8_t i = 0; i < 4; i++) {
float f = back_diff[i] * Printer::axisStepsPerMM[i];
p->delta[i] = abs((long)f);
if (p->delta[i])
p->dir |= XSTEP << i;
}
//Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm.
if (p->delta[Y_AXIS] > p->delta[X_AXIS] && p->delta[Y_AXIS] > p->delta[Z_AXIS])
p->primaryAxis = Y_AXIS;
else if (p->delta[X_AXIS] > p->delta[Z_AXIS])
p->primaryAxis = X_AXIS;
else
p->primaryAxis = Z_AXIS;
p->stepsRemaining = p->delta[p->primaryAxis];
//Feedrate calc based on XYZ travel distance
xydist2 = back_diff[X_AXIS] * back_diff[X_AXIS] + back_diff[Y_AXIS] * back_diff[Y_AXIS];
if (p->isZMove())
p->distance = sqrt(xydist2 + back_diff[Z_AXIS] * back_diff[Z_AXIS]);
else
p->distance = sqrt(xydist2);
Printer::backlashDir = (Printer::backlashDir & 56) | (p2->dir & XYZ_DIRPOS);
p->calculateMove(back_diff, pathOptimize, p->primaryAxis);
p = p2; // use saved instance for the real move
}
#endif
//Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm.
if (p->delta[Y_AXIS] > p->delta[X_AXIS] && p->delta[Y_AXIS] > p->delta[Z_AXIS] && p->delta[Y_AXIS] > p->delta[E_AXIS])
p->primaryAxis = Y_AXIS;
else if (p->delta[X_AXIS] > p->delta[Z_AXIS] && p->delta[X_AXIS] > p->delta[E_AXIS])
p->primaryAxis = X_AXIS;
else if (p->delta[Z_AXIS] > p->delta[E_AXIS])
p->primaryAxis = Z_AXIS;
else
p->primaryAxis = E_AXIS;
p->stepsRemaining = p->delta[p->primaryAxis];
if (p->isXYZMove()) {
xydist2 = axisDistanceMM[X_AXIS] * axisDistanceMM[X_AXIS] + axisDistanceMM[Y_AXIS] * axisDistanceMM[Y_AXIS];
if (p->isZMove())
p->distance = RMath::max((float)sqrt(xydist2 + axisDistanceMM[Z_AXIS] * axisDistanceMM[Z_AXIS]), fabs(axisDistanceMM[E_AXIS]));
else
p->distance = RMath::max((float)sqrt(xydist2), fabs(axisDistanceMM[E_AXIS]));
} else
p->distance = fabs(axisDistanceMM[E_AXIS]);
p->calculateMove(axisDistanceMM, pathOptimize, p->primaryAxis);
}
#endif
/**
Put a move to the current destination coordinates into the movement cache.
If the cache is full, the method will wait, until a place gets free. During
wait communication and temperature control is enabled.
destinationSteps must be excluding any z correction! We will add that if required here.
@param check_endstops Read end stop during move.
*/
void PrintLine::queueCartesianMove(uint8_t check_endstops, uint8_t pathOptimize) {
ENSURE_POWER
#if LAZY_DUAL_X_AXIS
if (Printer::sledParked && (Printer::currentPositionSteps[X_AXIS] != Printer::destinationSteps[X_AXIS] || Printer::currentPositionSteps[Y_AXIS] != Printer::destinationSteps[Y_AXIS] || Printer::currentPositionSteps[Z_AXIS] != Printer::destinationSteps[Z_AXIS]))
Printer::sledParked = false;
#endif
Printer::constrainDestinationCoords();
Printer::unsetAllSteppersDisabled();
#if DISTORTION_CORRECTION
if (Printer::distortion.isEnabled() && Printer::destinationSteps[Z_AXIS] < Printer::distortion.zMaxSteps() && Printer::isZProbingActive() == false && !Printer::isHoming()) {
// we are inside correction height so we split all moves in lines of max. 10 mm and add them
// including a z correction
int32_t deltas[E_AXIS_ARRAY], start[E_AXIS_ARRAY];
float fdeltas[E_AXIS_ARRAY], fstart[E_AXIS_ARRAY];
for (fast8_t i = 0; i < E_AXIS_ARRAY; i++) {
deltas[i] = Printer::destinationSteps[i] - Printer::currentPositionSteps[i];
start[i] = Printer::currentPositionSteps[i];
fdeltas[i] = Printer::destinationPositionTransformed[i] - Printer::currentPositionTransformed[i];
fstart[i] = Printer::currentPositionTransformed[i];
}
deltas[Z_AXIS] += Printer::zCorrectionStepsIncluded; // to steps without distorion
start[Z_AXIS] -= Printer::zCorrectionStepsIncluded; // to steps without distorion
// currentPositionSteps includes distortion while
// destinationSteps and deltas do not contain it.
// Correction for target gets added in queueCartesianSegmentTo.
float dx = fdeltas[X_AXIS];
float dy = fdeltas[Y_AXIS];
float len = dx * dx + dy * dy;
if (len < 100) { // no splitting required
queueCartesianSegmentTo(check_endstops, pathOptimize);
return;
}
// we need to split longer lines to follow bed curvature
len = sqrt(len);
int segments = (static_cast<int>(len) + 9) / 10;
#if DEBUG_DISTORTION
Com::printF(PSTR("Split line len:"), len);
Com::printFLN(PSTR(" segments:"), segments);
#endif
for (int i = 1; i <= segments; i++) {
for (fast8_t j = 0; j < E_AXIS_ARRAY; j++) {
Printer::destinationSteps[j] = start[j] + (i * deltas[j]) / segments;
Printer::destinationPositionTransformed[j] = fstart[j] + (i * fdeltas[j]) / segments;
}
queueCartesianSegmentTo(check_endstops, pathOptimize);
}
return;
}
#endif
waitForXFreeLines(1);
uint8_t newPath = insertWaitMovesIfNeeded(pathOptimize, 0);
PrintLine* p = getNextWriteLine();
float axisDistanceMM[E_AXIS_ARRAY]; // Axis movement in mm
p->flags = (check_endstops ? FLAG_CHECK_ENDSTOPS : 0);
#if MIXING_EXTRUDER
if (Printer::isAllEMotors()) {
p->flags |= FLAG_ALL_E_MOTORS;
}
#endif
p->joinFlags = 0;
if (!pathOptimize)
p->setEndSpeedFixed(true);
p->dir = 0;
//Find direction
Printer::zCorrectionStepsIncluded = 0;
p->secondSpeed = Printer::fanSpeed;
for (fast8_t axis = 0; axis < E_AXIS; axis++) {
p->delta[axis] = Printer::destinationSteps[axis] - Printer::currentPositionSteps[axis];
axisDistanceMM[axis] = fabs(Printer::destinationPositionTransformed[axis] - Printer::currentPositionTransformed[axis]);
if (p->delta[axis] >= 0) {
p->setPositiveDirectionForAxis(axis);
} else {
p->delta[axis] = -p->delta[axis];
}
// if (axisDistanceMM[axis] != 0) {
if (p->delta[axis] != 0) {
p->setMoveOfAxis(axis);
}
}
// special case E-Axis
p->delta[E_AXIS] = Printer::destinationSteps[E_AXIS] - Printer::currentPositionSteps[E_AXIS];
axisDistanceMM[E_AXIS] = (Printer::destinationPositionTransformed[E_AXIS] - Printer::currentPositionTransformed[E_AXIS]) * Printer::extrusionFactor;
if (Printer::mode == PRINTER_MODE_FFF) {
Printer::extrudeMultiplyError += axisDistanceMM[E_AXIS] * Printer::axisStepsPerMM[E_AXIS];
p->delta[E_AXIS] = lroundf(Printer::extrudeMultiplyError);
Printer::extrudeMultiplyError -= p->delta[E_AXIS];
Printer::filamentPrinted += p->delta[E_AXIS] * Printer::invAxisStepsPerMM[E_AXIS];
}
#if defined(SUPPORT_LASER) && SUPPORT_LASER
else if (Printer::mode == PRINTER_MODE_LASER) {
p->secondSpeed = ((p->delta[X_AXIS] != 0 || p->delta[Y_AXIS] != 0) && (LaserDriver::laserOn || p->delta[E_AXIS] != 0) ? LaserDriver::intensity : 0);
p->delta[E_AXIS] = 0;
}
#endif
axisDistanceMM[E_AXIS] = fabs(axisDistanceMM[E_AXIS]);
if (p->delta[E_AXIS] >= 0) {
p->setPositiveDirectionForAxis(E_AXIS);
} else {
p->delta[E_AXIS] = -p->delta[E_AXIS];
}
if (axisDistanceMM[E_AXIS] != 0) {
p->setMoveOfAxis(E_AXIS);
}
if (p->isNoMove()) {
if (newPath) { // need to delete dummy elements, otherwise commands can get locked.
resetPathPlanner();
}
return; // No steps included
}
float xydist2;
#if ENABLE_BACKLASH_COMPENSATION
if ((p->isXYZMove()) && ((p->dir & XYZ_DIRPOS) ^ (Printer::backlashDir & XYZ_DIRPOS)) & (Printer::backlashDir >> 3)) { // We need to compensate backlash, add a move
waitForXFreeLines(2);
uint8_t wpos2 = linesWritePos + 1;
if (wpos2 >= PRINTLINE_CACHE_SIZE)
wpos2 = 0;
PrintLine* p2 = &lines[wpos2];
memcpy(p2, p, sizeof(PrintLine)); // Move current data to p2
uint8_t changed = (p->dir & XYZ_DIRPOS) ^ (Printer::backlashDir & XYZ_DIRPOS);
float back_diff[4]; // Axis movement in mm
back_diff[E_AXIS] = 0;
back_diff[X_AXIS] = (changed & 1 ? (p->isXPositiveMove() ? Printer::backlashX : -Printer::backlashX) : 0);
back_diff[Y_AXIS] = (changed & 2 ? (p->isYPositiveMove() ? Printer::backlashY : -Printer::backlashY) : 0);
back_diff[Z_AXIS] = (changed & 4 ? (p->isZPositiveMove() ? Printer::backlashZ : -Printer::backlashZ) : 0);
p->dir &= XYZ_DIRPOS; // x,y and z are already correct
for (uint8_t i = 0; i < 4; i++) {
float f = back_diff[i] * Printer::axisStepsPerMM[i];
p->delta[i] = abs((long)f);
if (p->delta[i])
p->dir |= XSTEP << i;
}
//Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm.
if (p->delta[Y_AXIS] > p->delta[X_AXIS] && p->delta[Y_AXIS] > p->delta[Z_AXIS])
p->primaryAxis = Y_AXIS;
else if (p->delta[X_AXIS] > p->delta[Z_AXIS])
p->primaryAxis = X_AXIS;
else
p->primaryAxis = Z_AXIS;
p->stepsRemaining = p->delta[p->primaryAxis];
//Feedrate calc based on XYZ travel distance
xydist2 = back_diff[X_AXIS] * back_diff[X_AXIS] + back_diff[Y_AXIS] * back_diff[Y_AXIS];
if (p->isZMove())
p->distance = sqrt(xydist2 + back_diff[Z_AXIS] * back_diff[Z_AXIS]);
else
p->distance = sqrt(xydist2);
// 56 seems to be xstep|ystep|e_posdir which just seems odd
Printer::backlashDir = (Printer::backlashDir & 56) | (p2->dir & XYZ_DIRPOS);
p->calculateMove(back_diff, pathOptimize, p->primaryAxis);
p = p2; // use saved instance for the real move
}
#endif
//Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm.
if (p->delta[Y_AXIS] > p->delta[X_AXIS] && p->delta[Y_AXIS] > p->delta[Z_AXIS] && p->delta[Y_AXIS] > p->delta[E_AXIS])
p->primaryAxis = Y_AXIS;
else if (p->delta[X_AXIS] > p->delta[Z_AXIS] && p->delta[X_AXIS] > p->delta[E_AXIS])
p->primaryAxis = X_AXIS;
else if (p->delta[Z_AXIS] > p->delta[E_AXIS])
p->primaryAxis = Z_AXIS;
else
p->primaryAxis = E_AXIS;
p->stepsRemaining = p->delta[p->primaryAxis];
if (p->isXYZMove()) {
xydist2 = axisDistanceMM[X_AXIS] * axisDistanceMM[X_AXIS] + axisDistanceMM[Y_AXIS] * axisDistanceMM[Y_AXIS];
if (p->isZMove()) {
p->distance = RMath::max((float)sqrt(xydist2 + axisDistanceMM[Z_AXIS] * axisDistanceMM[Z_AXIS]), fabs(axisDistanceMM[E_AXIS]));
} else {
p->distance = RMath::max((float)sqrt(xydist2), fabs(axisDistanceMM[E_AXIS]));
}
} else {
p->distance = fabs(axisDistanceMM[E_AXIS]);
}
if (p->distance == 0) {
if (newPath) { // need to delete dummy elements, otherwise commands can get locked.
resetPathPlanner();
}
return; // No steps included
}
p->calculateMove(axisDistanceMM, pathOptimize, p->primaryAxis);
for (uint8_t axis = 0; axis < 4; axis++) {
Printer::currentPositionSteps[axis] = Printer::destinationSteps[axis];
Printer::currentPositionTransformed[axis] = Printer::destinationPositionTransformed[axis];
}
}
#endif
void PrintLine::calculateMove(float axisDistanceMM[], uint8_t pathOptimize, fast8_t drivingAxis) {
if (stepsRemaining == 0) { // need at least one step for bresenham
return;
}
#if NONLINEAR_SYSTEM
long axisInterval[VIRTUAL_AXIS_ARRAY]; // shortest interval possible for that axis
#else
long axisInterval[E_AXIS_ARRAY];
#endif
//float timeForMove = (float)(F_CPU)*distance / (isXOrYMove() ? RMath::max(Printer::minimumSpeed, Printer::feedrate) : Printer::feedrate); // time is in ticks
float timeForMove = (float)(F_CPU)*distance / Printer::feedrate; // time is in ticks
//bool critical = Printer::isZProbingActive();
if (linesCount < MOVE_CACHE_LOW && timeForMove < LOW_TICKS_PER_MOVE) { // Limit speed to keep cache full.
//Com::printF(PSTR("L:"),(int)linesCount);
//Com::printF(PSTR(" Old "),timeForMove);
timeForMove += (3 * (LOW_TICKS_PER_MOVE - timeForMove)) / (linesCount + 1); // Increase time if queue gets empty. Add more time if queue gets smaller.
//Com::printFLN(PSTR("Slow "),timeForMove);
//critical = true;
}
timeInTicks = timeForMove;
UI_MEDIUM; // do check encoder
// Compute the slowest allowed interval (ticks/step), so maximum feedrate is not violated
int32_t limitInterval0;
int32_t limitInterval = limitInterval0 = timeForMove / stepsRemaining; // until not violated by other constraints it is your target speed
float toTicks = static_cast<float>(F_CPU) / stepsRemaining;
if (isXMove()) {
axisInterval[X_AXIS] = axisDistanceMM[X_AXIS] * toTicks / (Printer::maxFeedrate[X_AXIS]); // mm*ticks/s/(mm/s*steps) = ticks/step
#if !NONLINEAR_SYSTEM || defined(FAST_COREXYZ)
limitInterval = RMath::max(axisInterval[X_AXIS], limitInterval);
#endif
} else
axisInterval[X_AXIS] = 0;
if (isYMove()) {
axisInterval[Y_AXIS] = axisDistanceMM[Y_AXIS] * toTicks / Printer::maxFeedrate[Y_AXIS];
#if !NONLINEAR_SYSTEM || defined(FAST_COREXYZ)
limitInterval = RMath::max(axisInterval[Y_AXIS], limitInterval);
#endif
} else
axisInterval[Y_AXIS] = 0;
if (isZMove()) { // normally no move in z direction
axisInterval[Z_AXIS] = axisDistanceMM[Z_AXIS] * toTicks / Printer::maxFeedrate[Z_AXIS]; // must prevent overflow!
#if !NONLINEAR_SYSTEM || defined(FAST_COREXYZ)
limitInterval = RMath::max(axisInterval[Z_AXIS], limitInterval);
#endif
} else
axisInterval[Z_AXIS] = 0;
if (isEMove()) {
axisInterval[E_AXIS] = axisDistanceMM[E_AXIS] * toTicks / Printer::maxFeedrate[E_AXIS];
limitInterval = RMath::max(axisInterval[E_AXIS], limitInterval);
} else
axisInterval[E_AXIS] = 0;
#if DRIVE_SYSTEM == DELTA
if (axisDistanceMM[VIRTUAL_AXIS] >= 0) { // only for deltas all speeds in all directions have same limit
axisInterval[VIRTUAL_AXIS] = axisDistanceMM[VIRTUAL_AXIS] * toTicks / (Printer::maxFeedrate[Z_AXIS]);
limitInterval = RMath::max(axisInterval[VIRTUAL_AXIS], limitInterval);
}
#endif
fullInterval = limitInterval = limitInterval > LIMIT_INTERVAL ? limitInterval : LIMIT_INTERVAL; // This is our target speed
if (limitInterval != limitInterval0) {
// new time at full speed = limitInterval*p->stepsRemaining [ticks]
timeForMove = (float)limitInterval * (float)stepsRemaining; // for large z-distance this overflows with long computation
}
float inverseTimeS = (float)F_CPU / timeForMove;
if (isXMove()) {
axisInterval[X_AXIS] = static_cast<int32_t>(timeForMove / (axisDistanceMM[X_AXIS] * Printer::axisStepsPerMM[X_AXIS]));
speedX = axisDistanceMM[X_AXIS] * inverseTimeS;
if (isXNegativeMove())
speedX = -speedX;
} else
speedX = 0;
if (isYMove()) {
axisInterval[Y_AXIS] = static_cast<int32_t>(timeForMove / (axisDistanceMM[Y_AXIS] * Printer::axisStepsPerMM[Y_AXIS]));
speedY = axisDistanceMM[Y_AXIS] * inverseTimeS;
if (isYNegativeMove())
speedY = -speedY;
} else
speedY = 0;
if (isZMove()) {
axisInterval[Z_AXIS] = static_cast<int32_t>(timeForMove / (axisDistanceMM[Z_AXIS] * Printer::axisStepsPerMM[Z_AXIS]));
speedZ = axisDistanceMM[Z_AXIS] * inverseTimeS;
if (isZNegativeMove())
speedZ = -speedZ;
} else
speedZ = 0;
if (isEMove()) {
axisInterval[E_AXIS] = static_cast<int32_t>(timeForMove / (axisDistanceMM[E_AXIS] * Printer::axisStepsPerMM[E_AXIS]));
speedE = axisDistanceMM[E_AXIS] * inverseTimeS;
if (isENegativeMove())
speedE = -speedE;
} else
speedE = 0;
#if NONLINEAR_SYSTEM
axisInterval[VIRTUAL_AXIS] = limitInterval; //timeForMove/stepsRemaining;
#endif
fullSpeed = distance * inverseTimeS;
//long interval = axis_interval[primary_axis]; // time for every step in ticks with full speed
//If acceleration is enabled, do some Bresenham calculations depending on which axis will lead it.
#if RAMP_ACCELERATION
// slowest time to accelerate from v0 to limitInterval determines used acceleration
// t = (v_end-v_start)/a
float slowestAxisPlateauTimeRepro = 1e15; // 1/time to reduce division Unit: 1/s
uint32_t* accel = (isEPositiveMove() ? Printer::maxPrintAccelerationStepsPerSquareSecond : Printer::maxTravelAccelerationStepsPerSquareSecond);
#if defined(INTERPOLATE_ACCELERATION_WITH_Z) && INTERPOLATE_ACCELERATION_WITH_Z != 0
uint32_t newAccel[4];
float accelFac = (100.0 + (EEPROM::accelarationFactorTop() - 100.0) * Printer::currentPosition[Z_AXIS] / Printer::zLength) * 0.01;
#if INTERPOLATE_ACCELERATION_WITH_Z == 1 || INTERPOLATE_ACCELERATION_WITH_Z == 3
newAccel[X_AXIS] = static_cast<int32_t>(accel[X_AXIS] * accelFac);
newAccel[Y_AXIS] = static_cast<int32_t>(accel[Y_AXIS] * accelFac);
#else
newAccel[X_AXIS] = accel[X_AXIS];
newAccel[Y_AXIS] = accel[Y_AXIS];
#endif
#if INTERPOLATE_ACCELERATION_WITH_Z == 2 || INTERPOLATE_ACCELERATION_WITH_Z == 3
newAccel[Z_AXIS] = static_cast<int32_t>(accel[Z_AXIS] * accelFac);
#else
newAccel[Z_AXIS] = accel[Z_AXIS];
#endif
newAccel[E_AXIS] = accel[E_AXIS];
accel = newAccel;
#endif // INTERPOLATE_ACCELERATION_WITH_Z
for (fast8_t i = 0; i < E_AXIS_ARRAY; i++) {
if (isMoveOfAxis(i))
// v = a * t => t = v/a = F_CPU/(c*a) => 1/t = c*a/F_CPU
slowestAxisPlateauTimeRepro = RMath::min(slowestAxisPlateauTimeRepro, (float)axisInterval[i] * (float)accel[i]); // steps/s^2 * step/tick Ticks/s^2
}
// Errors for delta move are initialized in timer (except extruder)
#if !NONLINEAR_SYSTEM
error[X_AXIS] = error[Y_AXIS] = error[Z_AXIS] = error[E_AXIS] = delta[primaryAxis] >> 1;
#endif
#if NONLINEAR_SYSTEM
error[E_AXIS] = stepsRemaining >> 1;
#endif
invFullSpeed = 1.0 / fullSpeed;
accelerationPrim = slowestAxisPlateauTimeRepro / axisInterval[primaryAxis]; // a = v/t = F_CPU/(c*t): Steps/s^2
//Now we can calculate the new primary axis acceleration, so that the slowest axis max acceleration is not violated
fAcceleration = 262144.0 * (float)accelerationPrim / F_CPU; // will overflow without float!
accelerationDistance2 = 2.0 * distance * slowestAxisPlateauTimeRepro * fullSpeed / ((float)F_CPU); // mm^2/s^2
startSpeed = endSpeed = minSpeed = safeSpeed(drivingAxis);
if (startSpeed > Printer::feedrate)
startSpeed = endSpeed = minSpeed = Printer::feedrate;
// Can accelerate to full speed within the line
if (startSpeed * startSpeed + accelerationDistance2 >= fullSpeed * fullSpeed)
setNominalMove();
vMax = F_CPU / fullInterval; // maximum steps per second, we can reach
// if(p->vMax>46000) // gets overflow in N computation
// p->vMax = 46000;
//p->plateauN = (p->vMax*p->vMax/p->accelerationPrim)>>1;
#if USE_ADVANCE
if (!isXYZMove() || !isEPositiveMove()) {
#if ENABLE_QUADRATIC_ADVANCE
advanceRate = 0; // No head move or E move only or sucking filament back
advanceFull = 0;
#endif
advanceL = 0;
} else {
float advlin = fabs(speedE) * Extruder::current->advanceL * 0.001 * Printer::axisStepsPerMM[E_AXIS];
advanceL = ((65536L * advlin) / vMax); //advanceLscaled = (65536*vE*k2)/vMax
#if ENABLE_QUADRATIC_ADVANCE
advanceFull = 65536 * Extruder::current->advanceK * speedE * speedE; // Steps*65536 at full speed
long steps = (HAL::U16SquaredToU32(vMax)) / (accelerationPrim << 1); // v^2/(2*a) = steps needed to accelerate from 0-vMax
advanceRate = advanceFull / steps;
if ((advanceFull >> 16) > maxadv) {
maxadv = (advanceFull >> 16);
maxadvspeed = fabs(speedE);
}
#endif
if (advlin > maxadv2) {
maxadv2 = advlin;
maxadvspeed = fabs(speedE);
}
}
#endif
UI_MEDIUM; // do check encoder
updateTrapezoids();
// how much steps on primary axis do we need to reach target feedrate
//p->plateauSteps = (long) (((float)p->acceleration *0.5f / slowest_axis_plateau_time_repro + p->vMin) *1.01f/slowest_axis_plateau_time_repro);
#else
#if USE_ADVANCE
#if ENABLE_QUADRATIC_ADVANCE
advanceRate = 0; // No advance for constant speeds
advanceFull = 0;
#endif
#endif
#endif
#ifdef DEBUG_STEPCOUNT
// Set in delta move calculation
#if !NONLINEAR_SYSTEM
totalStepsRemaining = delta[X_AXIS] + delta[Y_AXIS] + delta[Z_AXIS];
#endif
#endif
#ifdef DEBUG_QUEUE_MOVE
if (Printer::debugEcho()) {
logLine();
Com::printF(PSTR("de:"), axisDistanceMM[E_AXIS], 5);
Com::printFLN(PSTR(" se:"), speedE);
Com::printFLN(Com::tDBGLimitInterval, limitInterval);
Com::printFLN(Com::tDBGMoveDistance, distance, 4);
Com::printFLN(Com::tDBGCommandedFeedrate, Printer::feedrate);
Com::printFLN(Com::tDBGConstFullSpeedMoveTime, timeForMove);
}
#endif
// Make result permanent
if (pathOptimize)
waitRelax = 70;
pushLine();
DEBUG_MEMORY;
}
/**
This is the path planner.
It goes from the last entry and tries to increase the end speed of previous moves in a fashion that the maximum jerk
is never exceeded. If a segment with reached maximum speed is met, the planner stops. Everything left from this
is already optimal from previous updates.
The first 2 entries in the queue are not checked. The first is the one that is already in print and the following will likely to become active.
The method is called before lines_count is increased!
*/
void PrintLine::updateTrapezoids() {
ufast8_t first = linesWritePos;
PrintLine* firstLine;
PrintLine* act = &lines[linesWritePos];
InterruptProtectedBlock noInts;
// First we find out how far back we could go with optimization.
ufast8_t maxfirst = linesPos; // first non fixed segment we might change
if (maxfirst != linesWritePos)
nextPlannerIndex(maxfirst); // don't touch the line printing
// Now ignore enough segments to gain enough time for path planning
millis_t timeleft = 0;
// Skip as many stored moves as needed to gain enough time for computation
#if PRINTLINE_CACHE_SIZE < 10
#define minTime 4500L * PRINTLINE_CACHE_SIZE
#else
#define minTime 45000L
#endif
while (timeleft < minTime && maxfirst != linesWritePos) {
timeleft += lines[maxfirst].timeInTicks;
nextPlannerIndex(maxfirst);
}
// Search last fixed element
while (first != maxfirst && !lines[first].isEndSpeedFixed())
previousPlannerIndex(first);
if (first != linesWritePos && lines[first].isEndSpeedFixed())
nextPlannerIndex(first);
// now first points to last segment before the end speed is fixed
// so start speed is also fixed.
if (first == linesWritePos) { // Nothing to plan, only new element present
act->block(); // Prevent stepper interrupt from using this
noInts.unprotect();
act->setStartSpeedFixed(true);
act->updateStepsParameter();
act->unblock();
return;
}
// now we have at least one additional move for optimization
// that is not a wait move
// First is now the new element or the first element with non fixed end speed.
// anyhow, the start speed of first is fixed
firstLine = &lines[first];
firstLine->block(); // don't let printer touch this or following segments during update
noInts.unprotect();
ufast8_t previousIndex = linesWritePos;
previousPlannerIndex(previousIndex);
PrintLine* previous = &lines[previousIndex]; // segment before the one we are inserting
#if DRIVE_SYSTEM != DELTA
// filters z-move<->not z-move
/* if((previous->primaryAxis == Z_AXIS && act->primaryAxis != Z_AXIS) || (previous->primaryAxis != Z_AXIS && act->primaryAxis == Z_AXIS))
{
previous->setEndSpeedFixed(true);
act->setStartSpeedFixed(true);
act->updateStepsParameter();
firstLine->unblock();
return;
}*/
#endif // DRIVE_SYSTEM
if (previous->isEOnlyMove() != act->isEOnlyMove()) {
previous->maxJunctionSpeed = previous->endSpeed; // act->startSpeed; // maybe remove this. Previous should be at minimum and systems have nothing in common
previous->setEndSpeedFixed(true);
act->setStartSpeedFixed(true);
act->updateStepsParameter();
firstLine->unblock();
return;
} else {
computeMaxJunctionSpeed(previous, act); // Set maximum junction speed if we have a real move before
}
// Increase speed if possible neglecting current speed
backwardPlanner(linesWritePos, first);
// Reduce speed to reachable speeds
forwardPlanner(first);
#ifdef DEBUG_PLANNER
if (Printer::debugEcho()) {
Com::printF(PSTR("Planner: "), (int)linesCount);
previousPlannerIndex(first);
Com::printF(PSTR(" F "), lines[first].startSpeed, 1);
Com::printF(PSTR(" - "), lines[first].endSpeed, 1);
Com::printF(PSTR("("), lines[first].maxJunctionSpeed, 1);
Com::printF(PSTR(","), (int)lines[first].joinFlags);
nextPlannerIndex(first);
}
#endif
// Update precomputed data
do {
lines[first].updateStepsParameter();
#ifdef DEBUG_PLANNER
if (Printer::debugEcho()) {
Com::printF(PSTR(" / "), lines[first].startSpeed, 1);
Com::printF(PSTR(" - "), lines[first].endSpeed, 1);
Com::printF(PSTR("("), lines[first].maxJunctionSpeed, 1);
Com::printF(PSTR(","), (int)lines[first].joinFlags);
#ifdef DEBUG_QUEUE_MOVE
Com::println();
#endif
}
#endif
//noInts.protect();
lines[first].unblock(); // start with first block to release next used segment as early as possible
nextPlannerIndex(first);
lines[first].block();
//noInts.unprotect();
} while (first != linesWritePos);
act->updateStepsParameter();
act->unblock();
#ifdef DEBUG_PLANNER
if (Printer::debugEcho()) {
Com::printF(PSTR(" / "), lines[first].startSpeed, 1);
Com::printF(PSTR(" - "), lines[first].endSpeed, 1);
Com::printF(PSTR("("), lines[first].maxJunctionSpeed, 1);
Com::printFLN(PSTR(","), (int)lines[first].joinFlags);
}
#endif
}
/* Computes the maximum junction speed of the newly added segment under
optimal conditions. There is no guarantee that the previous move will be able to reach the
speed at all, but if it could exceed it will never exceed this theoretical limit.
if you define ALTERNATIVE_JERK the new jerk computations are used. These
use the cosine of the angle and the maximum speed
Jerk = (1-cos(alpha))*min(v1,v2)
This sets jerk to 0 on zero angle change.
Old New
0°: 0 0
30°: 51,8 13.4
45°: 76.53 29.3
90°: 141 100
180°: 200 200
Speed from 100 to 200
Old New(min) New(max)
0°: 100 0 0
30°: 123,9 13.4 26.8
45°: 147.3 29.3 58.6
90°: 223 100 200
180°: 300 200 400
*/
inline void PrintLine::computeMaxJunctionSpeed(PrintLine* previous, PrintLine* current) {
#if NONLINEAR_SYSTEM
/* if (previous->moveID == current->moveID) // Avoid computing junction speed for split nonlinear lines
{
if(previous->fullSpeed > current->fullSpeed)
previous->maxJunctionSpeed = current->fullSpeed;
else
previous->maxJunctionSpeed = previous->fullSpeed;
return;
}*/
#endif
#if USE_ADVANCE
if (Printer::isAdvanceActivated()) {
// if we start/stop extrusion we need to do so with lowest possible end speed
// or advance would leave a drolling extruder and can not adjust fast enough.
if (previous->isEMove() != current->isEMove()) {
previous->setEndSpeedFixed(true);
current->setStartSpeedFixed(true);
previous->endSpeed = current->startSpeed = previous->maxJunctionSpeed = RMath::min(previous->endSpeed, current->startSpeed);
previous->invalidateParameter();
current->invalidateParameter();
return;
}
}
#endif // USE_ADVANCE
// if we are here we have to identical move types
// either pure extrusion -> pure extrusion or
// move -> move (with or without extrusion)
// First we compute the normalized jerk for speed 1
float factor = 1.0;
float lengthFactor = 1.0;
#ifdef REDUCE_ON_SMALL_SEGMENTS
if (previous->distance < MAX_JERK_DISTANCE)
lengthFactor = static_cast<float>(MAX_JERK_DISTANCE * MAX_JERK_DISTANCE) / (previous->distance * previous->distance);
#endif
float maxJoinSpeed = RMath::min(current->fullSpeed, previous->fullSpeed);
#if (DRIVE_SYSTEM == DELTA) // No point computing Z Jerk separately for delta moves
#ifdef ALTERNATIVE_JERK
float jerk = maxJoinSpeed * lengthFactor * (1.0 - (current->speedX * previous->speedX + current->speedY * previous->speedY + current->speedZ * previous->speedZ) / (current->fullSpeed * previous->fullSpeed));
#else
float dx = current->speedX - previous->speedX;
float dy = current->speedY - previous->speedY;
float dz = current->speedZ - previous->speedZ;
float jerk = sqrt(dx * dx + dy * dy + dz * dz) * lengthFactor;
#endif // ALTERNATIVE_JERK
#else // DELTA
#ifdef ALTERNATIVE_JERK
float jerk = maxJoinSpeed * lengthFactor * (1.0 - (current->speedX * previous->speedX + current->speedY * previous->speedY + current->speedZ * previous->speedZ) / (current->fullSpeed * previous->fullSpeed));
#else
float dx = current->speedX - previous->speedX;
float dy = current->speedY - previous->speedY;
float jerk = sqrt(dx * dx + dy * dy) * lengthFactor;
#endif // ALTERNATIVE_JERK
#endif // DELTA
if (jerk > Printer::maxJerk) {
factor = Printer::maxJerk / jerk; // always < 1.0!
if (factor * maxJoinSpeed * 2.0 < Printer::maxJerk)
factor = Printer::maxJerk / (2.0 * maxJoinSpeed);
}
#if DRIVE_SYSTEM != DELTA
if ((previous->dir | current->dir) & ZSTEP) {
float dz = fabs(current->speedZ - previous->speedZ);
if (dz > Printer::maxZJerk)
factor = RMath::min(factor, Printer::maxZJerk / dz);
}
#endif
float eJerk = fabs(current->speedE - previous->speedE);
if (eJerk > Extruder::current->maxStartFeedrate) {
factor = RMath::min(factor, Extruder::current->maxStartFeedrate / eJerk);
}
previous->maxJunctionSpeed = maxJoinSpeed * factor; // set speed limit
#ifdef DEBUG_QUEUE_MOVE
if (Printer::debugEcho()) {
Com::printF(PSTR("ID:"), (int)previous);
Com::printFLN(PSTR(" MJ:"), previous->maxJunctionSpeed);
}
#endif // DEBUG_QUEUE_MOVE
}
/** Update parameter used by updateTrapezoids
Computes the acceleration/deceleration steps and advanced parameter associated.
*/
void PrintLine::updateStepsParameter() {
if (areParameterUpToDate() || isWarmUp())
return;
float startFactor = startSpeed * invFullSpeed;
float endFactor = endSpeed * invFullSpeed;
vStart = vMax * startFactor; //starting speed
vEnd = vMax * endFactor;
#if CPU_ARCH == ARCH_AVR
uint32_t vmax2 = HAL::U16SquaredToU32(vMax);