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