2 This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
3 Smoothie 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.
4 Smoothie 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.
5 You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
8 #include "libs/Module.h"
9 #include "libs/Kernel.h"
10 #include "libs/nuts_bolts.h"
18 #include "../communication/utils/Gcode.h"
21 clear_vector(this->steps
);
22 this->times_taken
= 0; // A block can be "taken" by any number of modules, and the next block is not moved to until all the modules have "released" it. This value serves as a tracker.
23 this->is_ready
= false;
24 this->initial_rate
= -1;
25 this->final_rate
= -1;
28 void Block::debug(Kernel
* kernel
){
29 kernel
->streams
->printf("%p: steps:%4d|%4d|%4d(max:%4d) nominal:r%10d/s%6.1f mm:%9.6f rdelta:%8f acc:%5d dec:%5d rates:%10d>%10d taken:%d ready:%d \r\n", this, this->steps
[0], this->steps
[1], this->steps
[2], this->steps_event_count
, this->nominal_rate
, this->nominal_speed
, this->millimeters
, this->rate_delta
, this->accelerate_until
, this->decelerate_after
, this->initial_rate
, this->final_rate
, this->times_taken
, this->is_ready
);
33 // Calculate a braking factor to reach baseline speed which is max_jerk/2, e.g. the
34 // speed under which you cannot exceed max_jerk no matter what you do.
35 double Block::compute_factor_for_safe_speed(){
36 return( this->planner
->max_jerk
/ this->nominal_speed
);
40 // Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
41 // The factors represent a factor of braking and must be in the range 0.0-1.0.
42 // +--------+ <- nominal_rate
44 // nominal_rate*entry_factor -> + \
45 // | + <- nominal_rate*exit_factor
48 void Block::calculate_trapezoid( double entryfactor
, double exitfactor
){
50 //this->player->kernel->streams->printf("%p calculating trapezoid\r\n", this);
52 this->initial_rate
= ceil(this->nominal_rate
* entryfactor
); // (step/min)
53 this->final_rate
= ceil(this->nominal_rate
* exitfactor
); // (step/min)
55 //this->player->kernel->streams->printf("initrate:%f finalrate:%f\r\n", this->initial_rate, this->final_rate);
57 double acceleration_per_minute
= this->rate_delta
* this->planner
->kernel
->stepper
->acceleration_ticks_per_second
* 60.0; // ( step/min^2)
58 int accelerate_steps
= ceil( this->estimate_acceleration_distance( this->initial_rate
, this->nominal_rate
, acceleration_per_minute
) );
59 int decelerate_steps
= floor( this->estimate_acceleration_distance( this->nominal_rate
, this->final_rate
, -acceleration_per_minute
) );
62 // Calculate the size of Plateau of Nominal Rate.
63 int plateau_steps
= this->steps_event_count
-accelerate_steps
-decelerate_steps
;
65 //this->player->kernel->streams->printf("accelperminute:%f accelerate_steps:%d decelerate_steps:%d plateau:%d \r\n", acceleration_per_minute, accelerate_steps, decelerate_steps, plateau_steps );
67 // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
68 // have to use intersection_distance() to calculate when to abort acceleration and start braking
69 // in order to reach the final_rate exactly at the end of this block.
70 if (plateau_steps
< 0) {
71 accelerate_steps
= ceil(this->intersection_distance(this->initial_rate
, this->final_rate
, acceleration_per_minute
, this->steps_event_count
));
72 accelerate_steps
= max( accelerate_steps
, 0 ); // Check limits due to numerical round-off
73 accelerate_steps
= min( accelerate_steps
, int(this->steps_event_count
) );
77 this->accelerate_until
= accelerate_steps
;
78 this->decelerate_after
= accelerate_steps
+plateau_steps
;
80 //this->debug(this->player->kernel);
83 // TODO: FIX THIS: DIRTY HACK so that we don't end too early for blocks with 0 as final_rate. Doing the math right would be better. Probably fixed in latest grbl
84 if( this->final_rate < 0.01 ){
85 this->decelerate_after += floor( this->nominal_rate / 60 / this->planner->kernel->stepper->acceleration_ticks_per_second ) * 3;
90 // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
91 // given acceleration:
92 double Block::estimate_acceleration_distance(double initialrate
, double targetrate
, double acceleration
) {
93 return( ((targetrate
*targetrate
)-(initialrate
*initialrate
))/(2L*acceleration
));
96 // This function gives you the point at which you must start braking (at the rate of -acceleration) if
97 // you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
98 // a total travel of distance. This can be used to compute the intersection point between acceleration and
99 // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
101 /* + <- some maximum rate we don't care about
106 initial_rate -> +----+--+
109 intersection_distance distance */
110 double Block::intersection_distance(double initialrate
, double finalrate
, double acceleration
, double distance
) {
111 return((2*acceleration
*distance
-initialrate
*initialrate
+finalrate
*finalrate
)/(4*acceleration
));
114 // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
115 // acceleration within the allotted distance.
116 inline double max_allowable_speed(double acceleration
, double target_velocity
, double distance
) {
118 sqrt(target_velocity
*target_velocity
-2L*acceleration
*distance
) //Was acceleration*60*60*distance, in case this breaks, but here we prefer to use seconds instead of minutes
123 // Called by Planner::recalculate() when scanning the plan from last to first entry.
124 void Block::reverse_pass(Block
* next
, Block
* previous
){
127 // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
128 // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
129 // check for maximum allowable speed reductions to ensure maximum possible planned speed.
130 if (this->entry_speed
!= this->max_entry_speed
) {
132 // If nominal length true, max junction speed is guaranteed to be reached. Only compute
133 // for max allowable speed if block is decelerating and nominal length is false.
134 if ((!this->nominal_length_flag
) && (this->max_entry_speed
> next
->entry_speed
)) {
135 this->entry_speed
= min( this->max_entry_speed
, max_allowable_speed(-this->planner
->acceleration
,next
->entry_speed
,this->millimeters
));
137 this->entry_speed
= this->max_entry_speed
;
139 this->recalculate_flag
= true;
142 } // Skip last block. Already initialized and set for recalculation.
147 // Called by Planner::recalculate() when scanning the plan from first to last entry.
148 void Block::forward_pass(Block
* previous
, Block
* next
){
150 if(!previous
) { return; } // Begin planning after buffer_tail
152 // If the previous block is an acceleration block, but it is not long enough to complete the
153 // full speed change within the block, we need to adjust the entry speed accordingly. Entry
154 // speeds have already been reset, maximized, and reverse planned by reverse planner.
155 // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
156 if (!previous
->nominal_length_flag
) {
157 if (previous
->entry_speed
< this->entry_speed
) {
158 double entry_speed
= min( this->entry_speed
,
159 max_allowable_speed(-this->planner
->acceleration
,previous
->entry_speed
,previous
->millimeters
) );
161 // Check for junction speed change
162 if (this->entry_speed
!= entry_speed
) {
163 this->entry_speed
= entry_speed
;
164 this->recalculate_flag
= true;
172 // Gcodes are attached to their respective blocks so that on_gcode_execute can be called with it
173 void Block::append_gcode(Gcode
* gcode
){
175 this->gcodes
.push_back(*gcode
);
179 // The attached gcodes are then poped and the on_gcode_execute event is called with them as a parameter
180 void Block::pop_and_execute_gcode(Kernel
* &kernel
){
181 Block
* block
= const_cast<Block
*>(this);
182 for(unsigned short index
=0; index
<block
->gcodes
.size(); index
++){
183 //printf("GCODE Z: %s \r\n", block->gcodes[index].command.c_str() );
184 kernel
->call_event(ON_GCODE_EXECUTE
, &(block
->gcodes
[index
]));
188 // Signal the player that this block is ready to be injected into the system
190 this->is_ready
= true;
191 this->player
->new_block_added();
194 // Mark the block as taken by one more module
197 //printf("taking %p times now:%d\r\n", this, int(this->times_taken) );
200 // Mark the block as no longer taken by one module, go to next block if this free's it
201 void Block::release(){
202 //printf("release %p \r\n", this );
204 //printf("releasing %p times now:%d\r\n", this, int(this->times_taken) );
205 if( this->times_taken
< 1 ){
206 this->player
->kernel
->call_event(ON_BLOCK_END
, this);
207 this->pop_and_execute_gcode(this->player
->kernel
);
208 Player
* player
= this->player
;
210 if( player
->queue
.size() > 0 ){
211 player
->queue
.delete_first();
214 if( player
->looking_for_new_block
== false ){
215 if( player
->queue
.size() > 0 ){
216 Block
* candidate
= player
->queue
.get_ref(0);
217 if( candidate
->is_ready
){
218 player
->current_block
= candidate
;
219 player
->kernel
->call_event(ON_BLOCK_BEGIN
, player
->current_block
);
220 if( player
->current_block
->times_taken
< 1 ){
221 player
->current_block
->times_taken
= 1;
222 player
->current_block
->release();
226 player
->current_block
= NULL
;
230 player
->current_block
= NULL
;