Commit | Line | Data |
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df27a6a3 | 1 | /* |
5886a464 | 2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl) with additions from Sungeun K. Jeon (https://github.com/chamnit/grbl) |
4cff3ded AW |
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. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
4cff3ded AW |
6 | */ |
7 | ||
8 | using namespace std; | |
9 | #include <vector> | |
4dc5513d MM |
10 | |
11 | #include "mri.h" | |
12 | #include "nuts_bolts.h" | |
13 | #include "RingBuffer.h" | |
14 | #include "Gcode.h" | |
15 | #include "Module.h" | |
16 | #include "Kernel.h" | |
4cff3ded AW |
17 | #include "Block.h" |
18 | #include "Planner.h" | |
3fceb8eb | 19 | #include "Conveyor.h" |
b66fb830 | 20 | |
8b69c90d JM |
21 | #define acceleration_checksum CHECKSUM("acceleration") |
22 | #define max_jerk_checksum CHECKSUM("max_jerk") | |
23 | #define junction_deviation_checksum CHECKSUM("junction_deviation") | |
24 | #define minimum_planner_speed_checksum CHECKSUM("minimum_planner_speed") | |
25 | ||
edac9072 AW |
26 | // The Planner does the acceleration math for the queue of Blocks ( movements ). |
27 | // It makes sure the speed stays within the configured constraints ( acceleration, junction_deviation, etc ) | |
28 | // It goes over the list in both direction, every time a block is added, re-doing the math to make sure everything is optimal | |
4cff3ded AW |
29 | |
30 | Planner::Planner(){ | |
aab6cbba | 31 | clear_vector(this->position); |
1cf31736 | 32 | clear_vector_float(this->previous_unit_vec); |
aab6cbba | 33 | this->previous_nominal_speed = 0.0; |
4cff3ded AW |
34 | this->has_deleted_block = false; |
35 | } | |
36 | ||
37 | void Planner::on_module_loaded(){ | |
476dcb96 | 38 | register_for_event(ON_CONFIG_RELOAD); |
da24d6ae AW |
39 | this->on_config_reload(this); |
40 | } | |
41 | ||
edac9072 | 42 | // Configure acceleration |
da24d6ae | 43 | void Planner::on_config_reload(void* argument){ |
1ad23cd3 MM |
44 | this->acceleration = THEKERNEL->config->value(acceleration_checksum )->by_default(100 )->as_number() * 60 * 60; // Acceleration is in mm/minute^2, see https://github.com/grbl/grbl/commit/9141ad282540eaa50a41283685f901f29c24ddbd#planner.c |
45 | this->junction_deviation = THEKERNEL->config->value(junction_deviation_checksum )->by_default(0.05f)->as_number(); | |
8b69c90d | 46 | this->minimum_planner_speed = THEKERNEL->config->value(minimum_planner_speed_checksum )->by_default(0.0f)->as_number(); |
4cff3ded AW |
47 | } |
48 | ||
da24d6ae | 49 | |
4cff3ded | 50 | // Append a block to the queue, compute it's speed factors |
1ad23cd3 | 51 | void Planner::append_block( int target[], float feed_rate, float distance, float deltas[] ){ |
3add9a23 | 52 | |
aab6cbba | 53 | // Stall here if the queue is ful |
314ab8f7 | 54 | THEKERNEL->conveyor->wait_for_queue(2); |
a2cd92c0 | 55 | |
edac9072 | 56 | // Create ( recycle ) a new block |
2134bcf2 | 57 | Block* block = THEKERNEL->conveyor->queue.head_ref(); |
aab6cbba AW |
58 | |
59 | // Direction bits | |
df27a6a3 MM |
60 | block->direction_bits = 0; |
61 | for( int stepper=ALPHA_STEPPER; stepper<=GAMMA_STEPPER; stepper++){ | |
62 | if( target[stepper] < position[stepper] ){ block->direction_bits |= (1<<stepper); } | |
aab6cbba | 63 | } |
1cf31736 | 64 | |
4cff3ded | 65 | // Number of steps for each stepper |
df27a6a3 | 66 | for( int stepper=ALPHA_STEPPER; stepper<=GAMMA_STEPPER; stepper++){ block->steps[stepper] = labs(target[stepper] - this->position[stepper]); } |
1cf31736 | 67 | |
4cff3ded AW |
68 | // Max number of steps, for all axes |
69 | block->steps_event_count = max( block->steps[ALPHA_STEPPER], max( block->steps[BETA_STEPPER], block->steps[GAMMA_STEPPER] ) ); | |
70 | ||
4cff3ded | 71 | block->millimeters = distance; |
1cf31736 | 72 | float inverse_millimeters = 0.0F; |
95b4885b | 73 | if( distance > 0 ){ inverse_millimeters = 1.0F/distance; } |
aab6cbba AW |
74 | |
75 | // Calculate speed in mm/minute for each axis. No divide by zero due to previous checks. | |
76 | // NOTE: Minimum stepper speed is limited by MINIMUM_STEPS_PER_MINUTE in stepper.c | |
1ad23cd3 | 77 | float inverse_minute = feed_rate * inverse_millimeters; |
df27a6a3 | 78 | if( distance > 0 ){ |
436a2cd1 AW |
79 | block->nominal_speed = block->millimeters * inverse_minute; // (mm/min) Always > 0 |
80 | block->nominal_rate = ceil(block->steps_event_count * inverse_minute); // (step/min) Always > 0 | |
81 | }else{ | |
82 | block->nominal_speed = 0; | |
83 | block->nominal_rate = 0; | |
84 | } | |
aab6cbba | 85 | |
4cff3ded AW |
86 | // Compute the acceleration rate for the trapezoid generator. Depending on the slope of the line |
87 | // average travel per step event changes. For a line along one axis the travel per step event | |
88 | // is equal to the travel/step in the particular axis. For a 45 degree line the steppers of both | |
89 | // axes might step for every step event. Travel per step event is then sqrt(travel_x^2+travel_y^2). | |
90 | // To generate trapezoids with contant acceleration between blocks the rate_delta must be computed | |
91 | // specifically for each line to compensate for this phenomenon: | |
aab6cbba | 92 | // Convert universal acceleration for direction-dependent stepper rate change parameter |
314ab8f7 | 93 | block->rate_delta = (float)( ( block->steps_event_count*inverse_millimeters * this->acceleration ) / ( THEKERNEL->stepper->acceleration_ticks_per_second * 60 ) ); // (step/min/acceleration_tick) |
4464301d | 94 | |
aab6cbba | 95 | // Compute path unit vector |
1ad23cd3 | 96 | float unit_vec[3]; |
aab6cbba AW |
97 | unit_vec[X_AXIS] = deltas[X_AXIS]*inverse_millimeters; |
98 | unit_vec[Y_AXIS] = deltas[Y_AXIS]*inverse_millimeters; | |
99 | unit_vec[Z_AXIS] = deltas[Z_AXIS]*inverse_millimeters; | |
1cf31736 | 100 | |
aab6cbba AW |
101 | // Compute maximum allowable entry speed at junction by centripetal acceleration approximation. |
102 | // Let a circle be tangent to both previous and current path line segments, where the junction | |
103 | // deviation is defined as the distance from the junction to the closest edge of the circle, | |
104 | // colinear with the circle center. The circular segment joining the two paths represents the | |
105 | // path of centripetal acceleration. Solve for max velocity based on max acceleration about the | |
106 | // radius of the circle, defined indirectly by junction deviation. This may be also viewed as | |
107 | // path width or max_jerk in the previous grbl version. This approach does not actually deviate | |
108 | // from path, but used as a robust way to compute cornering speeds, as it takes into account the | |
109 | // nonlinearities of both the junction angle and junction velocity. | |
8b69c90d | 110 | float vmax_junction = minimum_planner_speed; // Set default max junction speed |
aab6cbba | 111 | |
c501670b | 112 | if ((THEKERNEL->conveyor->queue.is_empty() == false) && (this->previous_nominal_speed > 0.0F)) { |
aab6cbba AW |
113 | // Compute cosine of angle between previous and current path. (prev_unit_vec is negative) |
114 | // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity. | |
1ad23cd3 | 115 | float cos_theta = - this->previous_unit_vec[X_AXIS] * unit_vec[X_AXIS] |
aab6cbba AW |
116 | - this->previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS] |
117 | - this->previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ; | |
1cf31736 | 118 | |
aab6cbba | 119 | // Skip and use default max junction speed for 0 degree acute junction. |
95b4885b | 120 | if (cos_theta < 0.95F) { |
aab6cbba AW |
121 | vmax_junction = min(this->previous_nominal_speed,block->nominal_speed); |
122 | // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds. | |
95b4885b | 123 | if (cos_theta > -0.95F) { |
aab6cbba | 124 | // Compute maximum junction velocity based on maximum acceleration and junction deviation |
95b4885b | 125 | float sin_theta_d2 = sqrtf(0.5F*(1.0F-cos_theta)); // Trig half angle identity. Always positive. |
aab6cbba | 126 | vmax_junction = min(vmax_junction, |
95b4885b | 127 | sqrtf(this->acceleration * this->junction_deviation * sin_theta_d2/(1.0F-sin_theta_d2)) ); |
aab6cbba AW |
128 | } |
129 | } | |
4cff3ded | 130 | } |
aab6cbba | 131 | block->max_entry_speed = vmax_junction; |
1cf31736 | 132 | |
8b69c90d JM |
133 | // Initialize block entry speed. Compute based on deceleration to user-defined minimum_planner_speed. |
134 | float v_allowable = this->max_allowable_speed(-this->acceleration,minimum_planner_speed,block->millimeters); //TODO: Get from config | |
aab6cbba AW |
135 | block->entry_speed = min(vmax_junction, v_allowable); |
136 | ||
137 | // Initialize planner efficiency flags | |
138 | // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds. | |
139 | // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then | |
140 | // the current block and next block junction speeds are guaranteed to always be at their maximum | |
141 | // junction speeds in deceleration and acceleration, respectively. This is due to how the current | |
142 | // block nominal speed limits both the current and next maximum junction speeds. Hence, in both | |
143 | // the reverse and forward planners, the corresponding block junction speed will always be at the | |
144 | // the maximum junction speed and may always be ignored for any speed reduction checks. | |
145 | if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; } | |
146 | else { block->nominal_length_flag = false; } | |
2134bcf2 MM |
147 | |
148 | // Always calculate trapezoid for new block | |
149 | block->recalculate_flag = true; | |
1cf31736 | 150 | |
aab6cbba AW |
151 | // Update previous path unit_vector and nominal speed |
152 | memcpy(this->previous_unit_vec, unit_vec, sizeof(unit_vec)); // previous_unit_vec[] = unit_vec[] | |
153 | this->previous_nominal_speed = block->nominal_speed; | |
1cf31736 | 154 | |
2bb8b390 | 155 | // Update current position |
4cff3ded | 156 | memcpy(this->position, target, sizeof(int)*3); |
2bb8b390 | 157 | |
df27a6a3 | 158 | // Math-heavy re-computing of the whole queue to take the new |
4cff3ded | 159 | this->recalculate(); |
1cf31736 | 160 | |
df27a6a3 | 161 | // The block can now be used |
3a4fa0c1 | 162 | block->ready(); |
2134bcf2 MM |
163 | |
164 | THEKERNEL->conveyor->queue_head_block(); | |
4cff3ded AW |
165 | } |
166 | ||
167 | ||
168 | // Recalculates the motion plan according to the following algorithm: | |
169 | // | |
170 | // 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor) | |
171 | // so that: | |
172 | // a. The junction jerk is within the set limit | |
173 | // b. No speed reduction within one block requires faster deceleration than the one, true constant | |
174 | // acceleration. | |
175 | // 2. Go over every block in chronological order and dial down junction speed reduction values if | |
176 | // a. The speed increase within one block would require faster accelleration than the one, true | |
177 | // constant acceleration. | |
178 | // | |
179 | // When these stages are complete all blocks have an entry_factor that will allow all speed changes to | |
180 | // be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than | |
181 | // the set limit. Finally it will: | |
182 | // | |
183 | // 3. Recalculate trapezoids for all blocks. | |
184 | // | |
185 | void Planner::recalculate() { | |
c501670b | 186 | Conveyor::Queue_t *queue = &THEKERNEL->conveyor->queue; |
4dc5513d | 187 | |
2134bcf2 | 188 | unsigned int newest = queue->head_i; // head has been previously prepared in append_block above |
c501670b | 189 | unsigned int oldest = queue->tail_i; |
4dc5513d | 190 | |
c501670b | 191 | unsigned int block_index = newest; |
4cff3ded | 192 | |
391bc610 MM |
193 | Block* previous; |
194 | Block* current; | |
195 | Block* next; | |
ded56b35 | 196 | |
c501670b | 197 | current = queue->item_ref(block_index); |
4dc5513d MM |
198 | |
199 | // if there's only one block in the queue, we fall through both while loops and this ends up in current | |
200 | // so we must set it here, or perform conditionals further down. this is easier | |
e2afb7d9 | 201 | next = current; |
4cff3ded | 202 | |
4dc5513d | 203 | while ((block_index != oldest) && (current->recalculate_flag)) |
391bc610 | 204 | { |
391bc610 | 205 | next = current; |
2134bcf2 | 206 | block_index = queue->prev(block_index); |
c501670b | 207 | current = queue->item_ref(block_index); |
391bc610 | 208 | |
4eb5fce1 | 209 | current->reverse_pass(next); |
391bc610 MM |
210 | } |
211 | ||
2cad47fa | 212 | previous = current; |
2134bcf2 MM |
213 | block_index = queue->next(block_index); |
214 | current = queue->item_ref(block_index); | |
391bc610 | 215 | |
2134bcf2 MM |
216 | previous->calculate_trapezoid( previous->entry_speed/previous->nominal_speed, current->entry_speed/previous->nominal_speed ); |
217 | ||
391bc610 MM |
218 | // Recalculates the trapezoid speed profiles for flagged blocks in the plan according to the |
219 | // entry_speed for each junction and the entry_speed of the next junction. Must be called by | |
220 | // planner_recalculate() after updating the blocks. Any recalulate flagged junction will | |
221 | // compute the two adjacent trapezoids to the junction, since the junction speed corresponds | |
222 | // to exit speed and entry speed of one another. | |
2134bcf2 | 223 | do |
391bc610 | 224 | { |
4eb5fce1 | 225 | current->forward_pass(previous); |
391bc610 | 226 | |
2134bcf2 | 227 | if (block_index != newest) |
391bc610 | 228 | { |
2134bcf2 | 229 | current->calculate_trapezoid( previous->entry_speed/previous->nominal_speed, current->entry_speed/previous->nominal_speed ); |
391bc610 | 230 | |
2134bcf2 MM |
231 | previous = current; |
232 | block_index = queue->next(block_index); | |
233 | current = queue->item_ref(block_index); | |
234 | } | |
235 | } while (block_index != newest); | |
13e4a3f9 | 236 | |
8b69c90d JM |
237 | // Last/newest block in buffer. Exit speed is set with minimum_planner_speed. Always recalculated. |
238 | current->calculate_trapezoid( current->entry_speed/current->nominal_speed, minimum_planner_speed/current->nominal_speed ); | |
2134bcf2 MM |
239 | |
240 | THEKERNEL->serial->printf("Queue: (head:%u tail:%u)\n", queue->head_i, queue->tail_i); | |
241 | dump_queue(); | |
13e4a3f9 | 242 | } |
4cff3ded AW |
243 | |
244 | // Debug function | |
c501670b MM |
245 | void Planner::dump_queue() |
246 | { | |
2134bcf2 | 247 | for (unsigned int index = THEKERNEL->conveyor->queue.tail_i, i = 0; true; index = THEKERNEL->conveyor->queue.next(index), i++ ) |
c501670b | 248 | { |
c501670b MM |
249 | THEKERNEL->streams->printf("block %03d > ", i); |
250 | THEKERNEL->conveyor->queue.item_ref(index)->debug(); | |
2134bcf2 MM |
251 | |
252 | if (index == THEKERNEL->conveyor->queue.head_i) | |
253 | break; | |
4cff3ded AW |
254 | } |
255 | } | |
aab6cbba | 256 | |
aab6cbba AW |
257 | // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the |
258 | // acceleration within the allotted distance. | |
1ad23cd3 | 259 | float Planner::max_allowable_speed(float acceleration, float target_velocity, float distance) { |
aab6cbba | 260 | return( |
95b4885b | 261 | sqrtf(target_velocity*target_velocity-2.0F*acceleration*distance) //Was acceleration*60*60*distance, in case this breaks, but here we prefer to use seconds instead of minutes |
aab6cbba AW |
262 | ); |
263 | } | |
264 | ||
265 |