Fixed AD595 define
This commit is contained in:
Erik van der Zalm
parent
d3002ef741
commit
b67dacdc8f
@ -16,7 +16,7 @@
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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*/
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/* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. */
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@ -49,7 +49,7 @@
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di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
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IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
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*/
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*/
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#include "Marlin.h"
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#include "planner.h"
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@ -83,10 +83,10 @@ static float previous_nominal_speed; // Nominal speed of previous path line segm
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extern volatile int extrudemultiply; // Sets extrude multiply factor (in percent)
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#ifdef AUTOTEMP
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float autotemp_max=250;
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float autotemp_min=210;
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float autotemp_factor=0.1;
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bool autotemp_enabled=false;
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float autotemp_max=250;
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float autotemp_min=210;
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float autotemp_factor=0.1;
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bool autotemp_enabled=false;
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#endif
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//===========================================================================
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@ -100,27 +100,33 @@ volatile unsigned char block_buffer_tail; // Index of the block to pro
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//=============================private variables ============================
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//===========================================================================
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#ifdef PREVENT_DANGEROUS_EXTRUDE
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bool allow_cold_extrude=false;
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bool allow_cold_extrude=false;
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#endif
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#ifdef XY_FREQUENCY_LIMIT
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// Used for the frequency limit
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static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations
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static long x_segment_time[3]={0,0,0}; // Segment times (in us). Used for speed calculations
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static long y_segment_time[3]={0,0,0};
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// Used for the frequency limit
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static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations
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static long x_segment_time[3]={
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0,0,0}; // Segment times (in us). Used for speed calculations
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static long y_segment_time[3]={
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0,0,0};
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#endif
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// Returns the index of the next block in the ring buffer
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// NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
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static int8_t next_block_index(int8_t block_index) {
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block_index++;
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if (block_index == BLOCK_BUFFER_SIZE) { block_index = 0; }
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if (block_index == BLOCK_BUFFER_SIZE) {
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block_index = 0;
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}
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return(block_index);
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}
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// Returns the index of the previous block in the ring buffer
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static int8_t prev_block_index(int8_t block_index) {
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if (block_index == 0) { block_index = BLOCK_BUFFER_SIZE; }
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if (block_index == 0) {
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block_index = BLOCK_BUFFER_SIZE;
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}
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block_index--;
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return(block_index);
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}
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@ -165,8 +171,12 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
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unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
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// Limit minimal step rate (Otherwise the timer will overflow.)
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if(initial_rate <120) {initial_rate=120; }
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if(final_rate < 120) {final_rate=120; }
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if(initial_rate <120) {
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initial_rate=120;
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}
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if(final_rate < 120) {
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final_rate=120;
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}
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long acceleration = block->acceleration_st;
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int32_t accelerate_steps =
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@ -188,10 +198,10 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
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plateau_steps = 0;
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}
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#ifdef ADVANCE
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#ifdef ADVANCE
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volatile long initial_advance = block->advance*entry_factor*entry_factor;
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volatile long final_advance = block->advance*exit_factor*exit_factor;
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#endif // ADVANCE
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#endif // ADVANCE
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// block->accelerate_until = accelerate_steps;
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// block->decelerate_after = accelerate_steps+plateau_steps;
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@ -201,10 +211,10 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
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block->decelerate_after = accelerate_steps+plateau_steps;
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block->initial_rate = initial_rate;
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block->final_rate = final_rate;
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#ifdef ADVANCE
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#ifdef ADVANCE
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block->initial_advance = initial_advance;
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block->final_advance = final_advance;
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#endif //ADVANCE
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#endif //ADVANCE
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}
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CRITICAL_SECTION_END;
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}
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@ -226,7 +236,9 @@ FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity
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// The kernel called by planner_recalculate() when scanning the plan from last to first entry.
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void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
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if(!current) { return; }
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if(!current) {
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return;
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}
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if (next) {
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// If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
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@ -239,7 +251,8 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n
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if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) {
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current->entry_speed = min( current->max_entry_speed,
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max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
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} else {
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}
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else {
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current->entry_speed = current->max_entry_speed;
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}
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current->recalculate_flag = true;
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@ -252,10 +265,17 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n
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// implements the reverse pass.
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void planner_reverse_pass() {
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uint8_t block_index = block_buffer_head;
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if(((block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
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//Make a local copy of block_buffer_tail, because the interrupt can alter it
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CRITICAL_SECTION_START;
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unsigned char tail = block_buffer_tail;
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CRITICAL_SECTION_END
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if(((block_buffer_head-tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
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block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
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block_t *block[3] = { NULL, NULL, NULL };
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while(block_index != block_buffer_tail) {
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block_t *block[3] = {
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NULL, NULL, NULL };
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while(block_index != tail) {
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block_index = prev_block_index(block_index);
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block[2]= block[1];
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block[1]= block[0];
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@ -267,7 +287,9 @@ void planner_reverse_pass() {
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// The kernel called by planner_recalculate() when scanning the plan from first to last entry.
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void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
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if(!previous) { return; }
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if(!previous) {
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return;
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}
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// If the previous block is an acceleration block, but it is not long enough to complete the
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// full speed change within the block, we need to adjust the entry speed accordingly. Entry
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@ -291,7 +313,8 @@ void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *n
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// implements the forward pass.
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void planner_forward_pass() {
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uint8_t block_index = block_buffer_tail;
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block_t *block[3] = { NULL, NULL, NULL };
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block_t *block[3] = {
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NULL, NULL, NULL };
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while(block_index != block_buffer_head) {
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block[0] = block[1];
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@ -436,17 +459,21 @@ void check_axes_activity() {
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}
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}
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else {
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#if FAN_PIN > -1
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#if FAN_PIN > -1
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if (FanSpeed != 0){
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analogWrite(FAN_PIN,FanSpeed); // If buffer is empty use current fan speed
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}
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#endif
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#endif
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}
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if((DISABLE_X) && (x_active == 0)) disable_x();
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if((DISABLE_Y) && (y_active == 0)) disable_y();
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if((DISABLE_Z) && (z_active == 0)) disable_z();
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if((DISABLE_E) && (e_active == 0)) { disable_e0();disable_e1();disable_e2(); }
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#if FAN_PIN > -1
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if((DISABLE_E) && (e_active == 0)) {
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disable_e0();
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disable_e1();
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disable_e2();
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}
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#if FAN_PIN > -1
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if((FanSpeed == 0) && (fan_speed ==0)) {
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analogWrite(FAN_PIN, 0);
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}
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@ -454,10 +481,10 @@ void check_axes_activity() {
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if (FanSpeed != 0 && tail_fan_speed !=0) {
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analogWrite(FAN_PIN,tail_fan_speed);
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}
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#endif
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#ifdef AUTOTEMP
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#endif
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#ifdef AUTOTEMP
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getHighESpeed();
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#endif
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#endif
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}
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@ -487,7 +514,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
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target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
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#ifdef PREVENT_DANGEROUS_EXTRUDE
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#ifdef PREVENT_DANGEROUS_EXTRUDE
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if(target[E_AXIS]!=position[E_AXIS])
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if(degHotend(active_extruder)<EXTRUDE_MINTEMP && !allow_cold_extrude)
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{
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@ -495,15 +522,15 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
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}
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#ifdef PREVENT_LENGTHY_EXTRUDE
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#ifdef PREVENT_LENGTHY_EXTRUDE
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if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
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{
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position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
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}
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#endif
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#endif
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#endif
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#endif
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// Prepare to set up new block
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block_t *block = &block_buffer[block_buffer_head];
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@ -521,28 +548,42 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
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// Bail if this is a zero-length block
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if (block->step_event_count <= dropsegments) { return; };
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if (block->step_event_count <= dropsegments) {
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return;
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};
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block->fan_speed = FanSpeed;
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// Compute direction bits for this block
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block->direction_bits = 0;
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if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<<X_AXIS); }
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if (target[Y_AXIS] < position[Y_AXIS]) { block->direction_bits |= (1<<Y_AXIS); }
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if (target[Z_AXIS] < position[Z_AXIS]) { block->direction_bits |= (1<<Z_AXIS); }
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if (target[E_AXIS] < position[E_AXIS]) { block->direction_bits |= (1<<E_AXIS); }
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if (target[X_AXIS] < position[X_AXIS]) {
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block->direction_bits |= (1<<X_AXIS);
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}
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if (target[Y_AXIS] < position[Y_AXIS]) {
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block->direction_bits |= (1<<Y_AXIS);
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}
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if (target[Z_AXIS] < position[Z_AXIS]) {
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block->direction_bits |= (1<<Z_AXIS);
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}
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if (target[E_AXIS] < position[E_AXIS]) {
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block->direction_bits |= (1<<E_AXIS);
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}
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block->active_extruder = extruder;
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//enable active axes
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if(block->steps_x != 0) enable_x();
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if(block->steps_y != 0) enable_y();
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#ifndef Z_LATE_ENABLE
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#ifndef Z_LATE_ENABLE
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if(block->steps_z != 0) enable_z();
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#endif
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#endif
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// Enable all
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if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); }
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if(block->steps_e != 0) {
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enable_e0();
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enable_e1();
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enable_e2();
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}
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if (block->steps_e == 0) {
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if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
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@ -558,7 +599,8 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0;
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if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments ) {
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block->millimeters = fabs(delta_mm[E_AXIS]);
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} else {
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}
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else {
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block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
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}
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float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
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@ -569,11 +611,11 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
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// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
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#ifdef OLD_SLOWDOWN
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#ifdef OLD_SLOWDOWN
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if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
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#endif
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#endif
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#ifdef SLOWDOWN
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#ifdef SLOWDOWN
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// segment time im micro seconds
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unsigned long segment_time = lround(1000000.0/inverse_second);
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if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5))) {
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@ -581,7 +623,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
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}
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}
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#endif
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#endif
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// END OF SLOW DOWN SECTION
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@ -597,7 +639,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
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}
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// Max segement time in us.
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// Max segement time in us.
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#ifdef XY_FREQUENCY_LIMIT
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#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
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@ -698,26 +740,29 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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#endif
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// Start with a safe speed
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float vmax_junction = max_xy_jerk/2;
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float vmax_junction_factor = 1.0;
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if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2)
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vmax_junction = max_z_jerk/2;
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vmax_junction = min(vmax_junction, block->nominal_speed);
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vmax_junction = min(vmax_junction, max_z_jerk/2);
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if(fabs(current_speed[E_AXIS]) > max_e_jerk/2)
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vmax_junction = min(vmax_junction, max_e_jerk/2);
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vmax_junction = min(vmax_junction, block->nominal_speed);
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float safe_speed = vmax_junction;
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if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
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float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
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if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
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// if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
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vmax_junction = block->nominal_speed;
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}
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// }
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if (jerk > max_xy_jerk) {
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vmax_junction *= (max_xy_jerk/jerk);
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vmax_junction_factor = (max_xy_jerk/jerk);
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}
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if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
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vmax_junction *= (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
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vmax_junction_factor= min(vmax_junction_factor, (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])));
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}
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if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
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vmax_junction *= (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]));
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vmax_junction_factor = min(vmax_junction_factor, (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS])));
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}
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vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
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}
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block->max_entry_speed = vmax_junction;
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@ -733,8 +778,12 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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// block nominal speed limits both the current and next maximum junction speeds. Hence, in both
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// the reverse and forward planners, the corresponding block junction speed will always be at the
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// the maximum junction speed and may always be ignored for any speed reduction checks.
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if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; }
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else { block->nominal_length_flag = false; }
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if (block->nominal_speed <= v_allowable) {
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block->nominal_length_flag = true;
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}
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else {
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block->nominal_length_flag = false;
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}
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block->recalculate_flag = true; // Always calculate trapezoid for new block
|
||||
|
||||
// Update previous path unit_vector and nominal speed
|
||||
@ -742,7 +791,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
|
||||
previous_nominal_speed = block->nominal_speed;
|
||||
|
||||
|
||||
#ifdef ADVANCE
|
||||
#ifdef ADVANCE
|
||||
// Calculate advance rate
|
||||
if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
|
||||
block->advance_rate = 0;
|
||||
@ -767,10 +816,10 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
|
||||
SERIAL_ECHOPGM("advance rate :");
|
||||
SERIAL_ECHOLN(block->advance_rate/256.0);
|
||||
*/
|
||||
#endif // ADVANCE
|
||||
#endif // ADVANCE
|
||||
|
||||
calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
|
||||
MINIMUM_PLANNER_SPEED/block->nominal_speed);
|
||||
safe_speed/block->nominal_speed);
|
||||
|
||||
// Move buffer head
|
||||
block_buffer_head = next_buffer_head;
|
||||
@ -810,7 +859,8 @@ uint8_t movesplanned()
|
||||
|
||||
void allow_cold_extrudes(bool allow)
|
||||
{
|
||||
#ifdef PREVENT_DANGEROUS_EXTRUDE
|
||||
#ifdef PREVENT_DANGEROUS_EXTRUDE
|
||||
allow_cold_extrude=allow;
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
@ -261,12 +261,10 @@ FORCE_INLINE void trapezoid_generator_reset() {
|
||||
#endif
|
||||
deceleration_time = 0;
|
||||
// step_rate to timer interval
|
||||
OCR1A_nominal = calc_timer(current_block->nominal_rate);
|
||||
acc_step_rate = current_block->initial_rate;
|
||||
acceleration_time = calc_timer(acc_step_rate);
|
||||
OCR1A = acceleration_time;
|
||||
OCR1A_nominal = calc_timer(current_block->nominal_rate);
|
||||
|
||||
|
||||
|
||||
// SERIAL_ECHO_START;
|
||||
// SERIAL_ECHOPGM("advance :");
|
||||
|
||||
@ -957,7 +957,7 @@ enum {
|
||||
#if EXTRUDERS > 2
|
||||
ItemCT_nozzle2,
|
||||
#endif
|
||||
#if defined BED_USES_THERMISTOR || BED_USES_AD595
|
||||
#if defined BED_USES_THERMISTOR || defined BED_USES_AD595
|
||||
ItemCT_bed,
|
||||
#endif
|
||||
ItemCT_fan,
|
||||
@ -1212,7 +1212,7 @@ void MainMenu::showControlTemp()
|
||||
|
||||
}break;
|
||||
#endif //autotemp
|
||||
#if defined BED_USES_THERMISTOR || BED_USES_AD595
|
||||
#if defined BED_USES_THERMISTOR || defined BED_USES_AD595
|
||||
case ItemCT_bed:
|
||||
{
|
||||
if(force_lcd_update)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user