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/*
* DDA.cpp
*
* Created on: 7 Dec 2014
* Author: David
*/
#include "DDA.h"
#include "RepRap.h"
#include "Platform.h"
#include "Move.h"
#include "Kinematics/LinearDeltaKinematics.h" // for DELTA_AXES
#ifdef DUET_NG
# define DDA_MOVE_DEBUG (0)
#else
// On the wired Duets we don't have enough RAM to support this
# define DDA_MOVE_DEBUG (0)
#endif
#if DDA_MOVE_DEBUG
// Structure to hold the essential parameters of a move, for debugging
struct MoveParameters
{
float accelDistance;
float steadyDistance;
float decelDistance;
float requestedSpeed;
float startSpeed;
float topSpeed;
float endSpeed;
float targetNextSpeed;
uint32_t endstopChecks;
uint16_t flags;
MoveParameters()
{
accelDistance = steadyDistance = decelDistance = requestedSpeed = startSpeed = topSpeed = endSpeed = targetNextSpeed = 0.0;
endstopChecks = 0;
flags = 0;
}
void DebugPrint() const
{
reprap.GetPlatform().MessageF(DebugMessage, "%f,%f,%f,%f,%f,%f,%f,%f,%08" PRIX32 ",%04x\n",
(double)accelDistance, (double)steadyDistance, (double)decelDistance, (double)requestedSpeed, (double)startSpeed, (double)topSpeed, (double)endSpeed,
(double)targetNextSpeed, endstopChecks, flags);
}
static void PrintHeading()
{
reprap.GetPlatform().Message(DebugMessage,
"accelDistance,steadyDistance,decelDistance,requestedSpeed,startSpeed,topSpeed,endSpeed,"
"targetNextSpeed,endstopChecks,flags\n");
}
};
const size_t NumSavedMoves = 128;
static MoveParameters savedMoves[NumSavedMoves];
static size_t savedMovePointer = 0;
// Print the saved moves in CSV format for analysis
/*static*/ void DDA::PrintMoves()
{
// Print the saved moved in CSV format
MoveParameters::PrintHeading();
for (size_t i = 0; i < NumSavedMoves; ++i)
{
savedMoves[savedMovePointer].DebugPrint();
savedMovePointer = (savedMovePointer + 1) % NumSavedMoves;
}
}
#else
/*static*/ void DDA::PrintMoves() { }
#endif
#if DDA_LOG_PROBE_CHANGES
size_t DDA::numLoggedProbePositions = 0;
int32_t DDA::loggedProbePositions[XYZ_AXES * MaxLoggedProbePositions];
bool DDA::probeTriggered = false;
void DDA::LogProbePosition()
{
if (numLoggedProbePositions < MaxLoggedProbePositions)
{
int32_t *p = loggedProbePositions + (numLoggedProbePositions * XYZ_AXES);
for (size_t drive = 0; drive < XYZ_AXES; ++drive)
{
DriveMovement *dm = pddm[drive];
if (dm != nullptr && dm->state == DMState::moving)
{
p[drive] = endPoint[drive] - dm->GetNetStepsLeft();
}
else
{
p[drive] = endPoint[drive];
}
}
++numLoggedProbePositions;
}
}
#endif
DDA::DDA(DDA* n) : next(n), prev(nullptr), state(empty)
{
for (DriveMovement*& p : pddm)
{
p = nullptr;
}
}
void DDA::ReleaseDMs()
{
for (DriveMovement*& p : pddm)
{
if (p != nullptr)
{
DriveMovement::Release(p);
p = nullptr;
}
}
}
// Return the number of clocks this DDA still needs to execute.
// This could be slightly negative, if the move is overdue for completion.
int32_t DDA::GetTimeLeft() const
pre(state == executing || state == frozen || state == completed)
{
return (state == completed) ? 0
: (state == executing) ? (int32_t)(moveStartTime + clocksNeeded - Platform::GetInterruptClocks())
: (int32_t)clocksNeeded;
}
// Insert the specified drive into the step list, in step time order.
// We insert the drive before any existing entries with the same step time for best performance. Now that we generate step pulses
// for multiple motors simultaneously, there is no need to preserve round-robin order.
inline void DDA::InsertDM(DriveMovement *dm)
{
DriveMovement **dmp = &firstDM;
while (*dmp != nullptr && (*dmp)->nextStepTime < dm->nextStepTime)
{
dmp = &((*dmp)->nextDM);
}
dm->nextDM = *dmp;
*dmp = dm;
}
// Remove this drive from the list of drives with steps due
// Called from the step ISR only.
void DDA::RemoveDM(size_t drive)
{
DriveMovement **dmp = &firstDM;
while (*dmp != nullptr)
{
DriveMovement * const dm = *dmp;
if (dm->drive == drive)
{
(*dmp) = dm->nextDM;
break;
}
dmp = &(dm->nextDM);
}
}
void DDA::DebugPrintVector(const char *name, const float *vec, size_t len) const
{
debugPrintf("%s=", name);
for (size_t i = 0; i < len; ++i)
{
debugPrintf("%c%f", ((i == 0) ? '[' : ' '), (double)vec[i]);
}
debugPrintf("]");
}
// Print the text followed by the DDA only
void DDA::DebugPrint() const
{
const size_t numAxes = reprap.GetGCodes().GetTotalAxes();
debugPrintf("DDA:");
if (endCoordinatesValid)
{
float startCoordinates[MaxAxes];
for (size_t i = 0; i < numAxes; ++i)
{
startCoordinates[i] = endCoordinates[i] - (totalDistance * directionVector[i]);
}
DebugPrintVector(" start", startCoordinates, numAxes);
DebugPrintVector(" end", endCoordinates, numAxes);
}
debugPrintf(" d=%f", (double)totalDistance);
DebugPrintVector(" vec", directionVector, 5);
debugPrintf("\n"
"a=%f reqv=%f startv=%f topv=%f endv=%f daccel=%f ddecel=%f\n"
"cks=%" PRIu32 " sstcda=%" PRIu32 " tstcdapdsc=%" PRIu32 " exac=%" PRIi32 "\n",
(double)acceleration, (double)requestedSpeed, (double)startSpeed, (double)topSpeed, (double)endSpeed, (double)accelDistance, (double)decelDistance,
clocksNeeded, startSpeedTimesCdivA, topSpeedTimesCdivAPlusDecelStartClocks, extraAccelerationClocks);
}
// Print the DDA and active DMs
void DDA::DebugPrintAll() const
{
DebugPrint();
const size_t numAxes = reprap.GetGCodes().GetTotalAxes();
for (size_t axis = 0; axis < numAxes; ++axis)
{
if (pddm[axis] != nullptr)
{
pddm[axis]->DebugPrint(reprap.GetGCodes().GetAxisLetters()[axis], isDeltaMovement);
}
}
for (size_t i = numAxes; i < DRIVES; ++i)
{
if (pddm[i] != nullptr && pddm[i]->state != DMState::idle)
{
pddm[i]->DebugPrint((char)('0' + (i - numAxes)), false);
}
}
}
// This is called by Move to initialize all DDAs
void DDA::Init()
{
// Set the endpoints to zero, because Move asks for them.
// They will be wrong if we are on a delta. We take care of that when we process the M665 command in config.g.
for (int32_t& ep : endPoint)
{
ep = 0;
}
state = empty;
endCoordinatesValid = false;
virtualExtruderPosition = 0;
filePos = noFilePosition;
#if SUPPORT_IOBITS
ioBits = 0;
#endif
}
// Set up a real move. Return true if it represents real movement, else false.
// Either way, return the amount of extrusion we didn't do in the extruder coordinates of nextMove
bool DDA::Init(GCodes::RawMove &nextMove, bool doMotorMapping)
{
// 1. Compute the new endpoints and the movement vector
const int32_t * const positionNow = prev->DriveCoordinates();
const Move& move = reprap.GetMove();
if (doMotorMapping)
{
if (!move.CartesianToMotorSteps(nextMove.coords, endPoint, nextMove.isCoordinated)) // transform the axis coordinates if on a delta or CoreXY printer
{
return false; // throw away the move if it couldn't be transformed
}
isDeltaMovement = move.IsDeltaMode()
&& (endPoint[X_AXIS] != positionNow[X_AXIS] || endPoint[Y_AXIS] != positionNow[Y_AXIS] || endPoint[Z_AXIS] != positionNow[Z_AXIS]);
}
else
{
isDeltaMovement = false;
}
xyMoving = false;
bool extruding = false; // we set this true if extrusion was commanded, even if it is too small to do
bool realMove = false;
float accelerations[DRIVES];
const float * const normalAccelerations = reprap.GetPlatform().Accelerations();
const size_t numAxes = reprap.GetGCodes().GetTotalAxes();
for (size_t drive = 0; drive < DRIVES; drive++)
{
accelerations[drive] = normalAccelerations[drive];
if (drive >= numAxes || !doMotorMapping)
{
endPoint[drive] = Move::MotorEndPointToMachine(drive, nextMove.coords[drive]);
}
endCoordinates[drive] = nextMove.coords[drive];
const int32_t delta = (drive < numAxes) ? endPoint[drive] - positionNow[drive] : endPoint[drive];
if (drive < numAxes && doMotorMapping)
{
const float positionDelta = nextMove.coords[drive] - prev->GetEndCoordinate(drive, false);
directionVector[drive] = positionDelta;
if (positionDelta != 0.0 && (IsBitSet(nextMove.yAxes, drive) || IsBitSet(nextMove.xAxes, drive)))
{
xyMoving = true;
}
}
else
{
directionVector[drive] = (float)delta/reprap.GetPlatform().DriveStepsPerUnit(drive);
if (drive >= numAxes && nextMove.coords[drive] > 0.0)
{
extruding = true;
}
}
if (delta != 0)
{
realMove = true;
DriveMovement*& pdm = pddm[drive];
pdm = DriveMovement::Allocate(drive, DMState::moving);
pdm->totalSteps = labs(delta); // for now this is the number of net steps, but gets adjusted later if there is a reverse in direction
pdm->direction = (delta >= 0); // for now this is the direction of net movement, but gets adjusted later if it is a delta movement
if (drive >= numAxes)
{
// It's an extruder movement
nextMove.coords[drive] -= directionVector[drive];
// subtract the amount of extrusion we actually did to leave the residue outstanding
if (xyMoving && nextMove.usePressureAdvance)
{
const float compensationTime = reprap.GetPlatform().GetPressureAdvance(drive - numAxes);
if (compensationTime > 0.0)
{
// Compensation causes instant velocity changes equal to acceleration * k, so we may need to limit the acceleration
accelerations[drive] = min<float>(accelerations[drive], reprap.GetPlatform().ConfiguredInstantDv(drive)/compensationTime);
}
}
}
}
}
// 2. Throw it away if there's no real movement.
if (!realMove)
{
// Update the end position in the previous move, so that on the next move we don't think there is XY movement when the user didn't ask for any
if (doMotorMapping)
{
for (size_t drive = 0; drive < numAxes; ++drive)
{
prev->endCoordinates[drive] = nextMove.coords[drive];
}
}
return false;
}
// 2a. If it's a delta move, we need a DM for each tower even if its carriage has no net movement
if (isDeltaMovement)
{
for (size_t drive = 0; drive < DELTA_AXES; ++drive)
{
DriveMovement*& pdm = pddm[drive];
if (pdm == nullptr)
{
pdm = DriveMovement::Allocate(drive, DMState::moving);
pdm->totalSteps = 0;
pdm->direction = true;
}
}
}
// 3. Store some values
xAxes = nextMove.xAxes;
yAxes = nextMove.yAxes;
endStopsToCheck = nextMove.endStopsToCheck;
canPauseBefore = nextMove.canPauseBefore;
canPauseAfter = nextMove.canPauseAfter;
filePos = nextMove.filePos;
isPrintingMove = xyMoving && extruding;
usePressureAdvance = nextMove.usePressureAdvance;
virtualExtruderPosition = nextMove.virtualExtruderPosition;
proportionLeft = nextMove.proportionLeft;
hadLookaheadUnderrun = false;
isLeadscrewAdjustmentMove = false;
goingSlow = false;
#if SUPPORT_IOBITS
ioBits = nextMove.ioBits;
#endif
// If it's a Z probing move, limit the Z acceleration to better handle nozzle-contact probes
if ((endStopsToCheck & ZProbeActive) != 0 && accelerations[Z_AXIS] > ZProbeMaxAcceleration)
{
accelerations[Z_AXIS] = ZProbeMaxAcceleration;
}
// The end coordinates will be valid at the end of this move if it does not involve endstop checks and is not a raw motor move
endCoordinatesValid = (endStopsToCheck == 0) && doMotorMapping;
// 4. Normalise the direction vector and compute the amount of motion.
if (xyMoving)
{
// There is some XY movement, so normalise the direction vector so that the total XYZ movement has unit length and 'totalDistance' is the XYZ distance moved.
// This means that the user gets the feed rate that he asked for. It also makes the delta calculations simpler.
// First do the bed tilt compensation for deltas.
const Kinematics& k = move.GetKinematics();
directionVector[Z_AXIS] += (directionVector[X_AXIS] * k.GetTiltCorrection(X_AXIS)) + (directionVector[Y_AXIS] * k.GetTiltCorrection(Y_AXIS));
totalDistance = NormaliseXYZ();
}
else
{
// Extruder-only movement, or movement of additional axes, or a combination.
// Currently we normalise vector sum of all drive movement to unit length.
// Alternatives would be:
// 1. Normalise the largest one to unit length. This means that when retracting multiple filaments, they all get the requested retract speed.
// 2. Normalise the sum to unit length. This means that when we use mixing, we get the requested extrusion rate at the nozzle.
// 3. Normalise the sum to the sum of the mixing coefficients (which we would have to include in the move details).
totalDistance = Normalise(directionVector, DRIVES, DRIVES);
}
// 5. Compute the maximum acceleration available
float normalisedDirectionVector[DRIVES]; // Used to hold a unit-length vector in the direction of motion
memcpy(normalisedDirectionVector, directionVector, sizeof(normalisedDirectionVector));
Absolute(normalisedDirectionVector, DRIVES);
acceleration = VectorBoxIntersection(normalisedDirectionVector, accelerations, DRIVES);
if (xyMoving)
{
acceleration = min<float>(acceleration, (isPrintingMove) ? reprap.GetPlatform().GetMaxPrintingAcceleration() : reprap.GetPlatform().GetMaxTravelAcceleration());
}
// 6. Set the speed to the smaller of the requested and maximum speed.
// Also enforce a minimum speed of 0.5mm/sec. We need a minimum speed to avoid overflow in the movement calculations.
float reqSpeed = nextMove.feedRate;
if (!doMotorMapping)
{
// Special case of a raw or homing move on a delta printer
// We use the Cartesian motion system to implement these moves, so the feed rate will be interpreted in Cartesian coordinates.
// This is wrong, we want the feed rate to apply to the drive that is moving the farthest.
float maxDistance = 0.0;
for (size_t axis = 0; axis < DELTA_AXES; ++axis)
{
if (normalisedDirectionVector[axis] > maxDistance)
{
maxDistance = normalisedDirectionVector[axis];
}
}
if (maxDistance != 0.0) // should always be true
{
reqSpeed /= maxDistance; // because normalisedDirectionVector is unit-normalised
}
}
// Don't use the constrain function in the following, because if we have a very small XY movement and a lot of extrusion, we may have to make the
// speed lower than the 0.5mm/sec minimum. We must apply the minimum speed first and then limit it if necessary after that.
requestedSpeed = min<float>(max<float>(reqSpeed, 0.5), VectorBoxIntersection(normalisedDirectionVector, reprap.GetPlatform().MaxFeedrates(), DRIVES));
// On a Cartesian printer, it is OK to limit the X and Y speeds and accelerations independently, and in consequence to allow greater values
// for diagonal moves. On a delta, this is not OK and any movement in the XY plane should be limited to the X/Y axis values, which we assume to be equal.
if (doMotorMapping)
{
reprap.GetMove().GetKinematics().LimitSpeedAndAcceleration(*this, normalisedDirectionVector); // give the kinematics the chance to further restrict the speed and acceleration
}
// 7. Calculate the provisional accelerate and decelerate distances and the top speed
endSpeed = 0.0; // until the next move asks us to adjust it
if (prev->state != provisional || isPrintingMove != prev->isPrintingMove || xyMoving != prev->xyMoving)
{
// There is no previous move that we can adjust, so this move must start at zero speed.
startSpeed = 0.0;
}
else
{
// Try to meld this move to the previous move to avoid stop/start
// Assuming that this move ends with zero speed, calculate the maximum possible starting speed: u^2 = v^2 - 2as
prev->targetNextSpeed = min<float>(sqrtf(acceleration * totalDistance * 2.0), requestedSpeed);
DoLookahead(prev);
startSpeed = prev->endSpeed;
}
RecalculateMove();
state = provisional;
return true;
}
// Set up a raw (unmapped) motor move returning true if the move does anything
bool DDA::Init(const float_t adjustments[DRIVES])
{
// 1. Compute the new endpoints and the movement vector
const float ZAcceleration = reprap.GetPlatform().Accelerations()[Z_AXIS];
const float ZSpeed = reprap.GetPlatform().MaxFeedrate(Z_AXIS);
float accelerations[DRIVES];
float maxSpeeds[DRIVES];
bool realMove = false;
for (size_t drive = 0; drive < DRIVES; drive++)
{
accelerations[drive] = ZAcceleration; // all motors moving are Z motors
maxSpeeds[drive] = ZSpeed; // all motors moving are Z motors
endPoint[drive] = prev->endPoint[drive]; // adjusting leadscrews doesn't change the endpoint
endCoordinates[drive] = prev->endCoordinates[drive]; // adjusting leadscrews doesn't change the position
directionVector[drive] = adjustments[drive];
const int32_t delta = lrintf(directionVector[drive] * reprap.GetPlatform().DriveStepsPerUnit(Z_AXIS));
if (delta != 0)
{
DriveMovement*& pdm = pddm[drive];
pdm = DriveMovement::Allocate(drive + DRIVES, DMState::moving);
pdm->totalSteps = labs(delta);
pdm->direction = (delta >= 0);
realMove = true;
}
}
// 2. Throw it away if there's no real movement.
if (!realMove)
{
ReleaseDMs();
return false;
}
// 3. Store some values
isLeadscrewAdjustmentMove = true;
isDeltaMovement = false;
isPrintingMove = false;
xyMoving = false;
endStopsToCheck = 0;
canPauseBefore = true;
canPauseAfter = true;
usePressureAdvance = false;
virtualExtruderPosition = prev->virtualExtruderPosition;
hadLookaheadUnderrun = false;
xAxes = prev->xAxes;
yAxes = prev->yAxes;
filePos = prev->filePos;
endCoordinatesValid = prev->endCoordinatesValid;
goingSlow = false;
#if SUPPORT_IOBITS
ioBits = prev->ioBits;
#endif
// 4. Normalise the direction vector and compute the amount of motion.
// Currently we normalise the vector sum of all Z motor movement to unit length.
totalDistance = Normalise(directionVector, DRIVES, DRIVES);
// 5. Compute the maximum acceleration available
float normalisedDirectionVector[DRIVES]; // Used to hold a unit-length vector in the direction of motion
memcpy(normalisedDirectionVector, directionVector, sizeof(normalisedDirectionVector));
Absolute(normalisedDirectionVector, DRIVES);
acceleration = VectorBoxIntersection(normalisedDirectionVector, accelerations, DRIVES);
// 6. Set the speed to the smaller of the requested and maximum speed.
requestedSpeed = VectorBoxIntersection(normalisedDirectionVector, maxSpeeds, DRIVES);
// 7. Calculate the provisional accelerate and decelerate distances and the top speed
startSpeed = endSpeed = 0.0;
RecalculateMove();
state = provisional;
return true;
}
// Return true if this move is or might have been intended to be a deceleration-only move
// A move planned as a deceleration-only move may have a short acceleration segment at the start because of rounding error
// We declare this inline because it is only used once, in DDA::DoLookahead
inline bool DDA::IsDecelerationMove() const
{
return decelDistance == totalDistance // the simple case - is a deceleration-only move
|| (topSpeed < requestedSpeed // can't have been intended as deceleration-only if it reaches the requested speed
&& decelDistance > 0.98 * totalDistance // rounding error can only go so far
&& prev->state == DDA::provisional // if we can't adjust the previous move then we don't care (and its figures may not be reliable if it has been recycled already)
&& prev->decelDistance > 0.0); // if the previous move has no deceleration phase then no point in adjus6ting it
}
// Return true if there is no reason to delay preparing this move
bool DDA::IsGoodToPrepare() const
{
return endSpeed >= topSpeed; // if it never decelerates, we can't improve it
}
#if 0
#define LA_DEBUG do { if (fabsf(fsquare(laDDA->endSpeed) - fsquare(laDDA->startSpeed)) > 2.02 * laDDA->acceleration * laDDA->totalDistance \
|| laDDA->topSpeed > laDDA->requestedSpeed) { \
debugPrintf("%s(%d) ", __FILE__, __LINE__); \
laDDA->DebugPrint(); \
} \
} while(false)
#else
#define LA_DEBUG do { } while(false)
#endif
// Try to increase the ending speed of this move to allow the next move to start at targetNextSpeed.
// Only called if this move and the next one are both printing moves.
/*static*/ void DDA::DoLookahead(DDA *laDDA)
pre(state == provisional)
{
// if (reprap.Debug(moduleDda)) debugPrintf("Adjusting, %f\n", laDDA->targetNextSpeed);
unsigned int laDepth = 0;
bool goingUp = true;
for(;;) // this loop is used to nest lookahead without making recursive calls
{
if (goingUp)
{
// We have been asked to adjust the end speed of this move to match the next move starting at targetNextSpeed
if (laDDA->targetNextSpeed > laDDA->requestedSpeed)
{
laDDA->targetNextSpeed = laDDA->requestedSpeed; // don't try for an end speed higher than our requested speed
}
if (laDDA->topSpeed >= laDDA->requestedSpeed)
{
// This move already reaches its top speed, so we just need to adjust the deceleration part
laDDA->MatchSpeeds(); // adjust it if necessary
goingUp = false;
}
else if (laDDA->IsDecelerationMove())
{
// This is a deceleration-only move, so we may have to adjust the previous move as well to get optimum behaviour
if (laDDA->prev->state == provisional && laDDA->prev->isPrintingMove == laDDA->isPrintingMove && laDDA->prev->xyMoving == laDDA->xyMoving)
{
laDDA->MatchSpeeds();
const float maxStartSpeed = sqrtf(fsquare(laDDA->targetNextSpeed) + (2 * laDDA->acceleration * laDDA->totalDistance));
laDDA->prev->targetNextSpeed = min<float>(maxStartSpeed, laDDA->requestedSpeed);
// leave 'recurse' true
}
else
{
// This move is a deceleration-only move but we can't adjust the previous one
laDDA->hadLookaheadUnderrun = true;
const float maxReachableSpeed = sqrtf(fsquare(laDDA->startSpeed) + (2 * laDDA->acceleration * laDDA->totalDistance));
if (laDDA->targetNextSpeed > maxReachableSpeed)
{
laDDA->targetNextSpeed = maxReachableSpeed;
}
laDDA->MatchSpeeds();
goingUp = false;
}
}
else
{
// This move doesn't reach its requested speed, but it isn't a deceleration-only move
// Set its end speed to the minimum of the requested speed and the highest we can reach
const float maxReachableSpeed = sqrtf(fsquare(laDDA->startSpeed) + (2 * laDDA->acceleration * laDDA->totalDistance));
if (laDDA->targetNextSpeed > maxReachableSpeed)
{
// Looks like this is an acceleration segment, so to ensure smooth acceleration we should reduce targetNextSpeed to endSpeed as well
laDDA->targetNextSpeed = maxReachableSpeed;
}
laDDA->MatchSpeeds();
goingUp = false;
}
}
else
{
// Going back down the list
// We have adjusted the end speed of the previous move as much as is possible. Adjust this move to match it.
laDDA->startSpeed = laDDA->prev->endSpeed;
const float maxEndSpeed = sqrtf(fsquare(laDDA->startSpeed) + (2 * laDDA->acceleration * laDDA->totalDistance));
if (maxEndSpeed < laDDA->targetNextSpeed)
{
laDDA->targetNextSpeed = maxEndSpeed;
}
}
if (goingUp)
{
// Still going up
laDDA = laDDA->prev;
++laDepth;
if (reprap.Debug(moduleDda))
{
debugPrintf("Recursion start %u\n", laDepth);
}
}
else
{
// Either just stopped going up, or going down
laDDA->endSpeed = laDDA->targetNextSpeed;
LA_DEBUG;
laDDA->RecalculateMove();
if (laDepth == 0)
{
// if (reprap.Debug(moduleDda)) debugPrintf("Complete, %f\n", laDDA->targetNextSpeed);
return;
}
laDDA = laDDA->next;
--laDepth;
}
}
}
// Try to push babystepping earlier in the move queue, returning the amount we pushed
float DDA::AdvanceBabyStepping(float amount)
{
DDA *cdda = this;
while (cdda->prev->state == DDAState::provisional)
{
cdda = cdda->prev;
}
// cdda addresses the earliest un-prepared move, which is the first one we can apply babystepping to
// Allow babystepping Z speed up to 10% of the move top speed or up to half the Z jerk rate, whichever is lower
float babySteppingDone = 0.0;
while(cdda != this)
{
float babySteppingToDo = 0.0;
if (amount != 0.0 && cdda->xyMoving)
{
// If not on a delta printer, check that we have a DM for the Z axis
bool ok = (cdda->isDeltaMovement || cdda->pddm[Z_AXIS] != nullptr);
if (!ok)
{
cdda->pddm[Z_AXIS] = DriveMovement::Allocate(Z_AXIS, DMState::idle);
ok = (cdda->pddm[Z_AXIS] != nullptr);
}
if (ok)
{
// Limit the babystepping Z speed to the lower of 0.1 times the original XYZ speed and 0.5 times the Z jerk
const float maxBabySteppingAmount = cdda->totalDistance * min<float>(0.1, 0.5 * reprap.GetPlatform().ConfiguredInstantDv(Z_AXIS)/cdda->topSpeed);
babySteppingToDo = constrain<float>(amount, -maxBabySteppingAmount, maxBabySteppingAmount);
cdda->directionVector[Z_AXIS] += babySteppingToDo/cdda->totalDistance;
cdda->totalDistance *= cdda->NormaliseXYZ();
cdda->RecalculateMove();
babySteppingDone += babySteppingToDo;
amount -= babySteppingToDo;
}
}
// Even if there is no babystepping to do this move, we may need to adjust the end coordinates
cdda->endCoordinates[Z_AXIS] += babySteppingDone;
if (cdda->isDeltaMovement)
{
for (size_t tower = 0; tower < DELTA_AXES; ++tower)
{
cdda->endPoint[tower] += (int32_t)(babySteppingDone * reprap.GetPlatform().DriveStepsPerUnit(tower));
if (babySteppingToDo != 0.0)
{
int32_t steps = (int32_t)(babySteppingToDo * reprap.GetPlatform().DriveStepsPerUnit(tower));
DriveMovement* const pdm = cdda->pddm[tower];
if (pdm != nullptr)
{
if (pdm->direction) // if moving up
{
steps += (int32_t)pdm->totalSteps;
}
else
{
steps -= (int32_t)pdm->totalSteps;
}
if (steps >= 0)
{
pdm->direction = true;
pdm->totalSteps = (uint32_t)steps;
}
else
{
pdm->direction = false;
pdm->totalSteps = (uint32_t)(-steps);
}
}
}
}
}
else
{
cdda->endPoint[Z_AXIS] += (int32_t)(babySteppingDone * reprap.GetPlatform().DriveStepsPerUnit(Z_AXIS));
if (babySteppingToDo != 0.0)
{
int32_t steps = (int32_t)(babySteppingToDo * reprap.GetPlatform().DriveStepsPerUnit(Z_AXIS));
DriveMovement* const pdm = cdda->pddm[Z_AXIS]; // must be non-null because we allocated one earlier if necessary
if (pdm->state == DMState::moving)
{
if (pdm->direction) // if moving up
{
steps += (int32_t)pdm->totalSteps;
}
else
{
steps -= (int32_t)pdm->totalSteps;
}
}
else
{
pdm->state = DMState::moving;
}
if (steps >= 0)
{
pdm->direction = true;
pdm->totalSteps = (uint32_t)steps;
}
else
{
pdm->direction = false;
pdm->totalSteps = (uint32_t)(-steps);
}
}
}
// Now do the next move
cdda = cdda->next;
}
return babySteppingDone;
}
// Recalculate the top speed, acceleration distance and deceleration distance, and whether we can pause after this move
// This may cause a move that we intended to be a deceleration-only move to have a tiny acceleration segment at the start
void DDA::RecalculateMove()
{
const float accelDiff = fsquare(requestedSpeed) - fsquare(startSpeed);
const float decelDiff = fsquare(requestedSpeed) - fsquare(endSpeed);
if (accelDiff + decelDiff >= acceleration * totalDistance * 2)
{
// This move has no steady-speed phase, so it's accelerate-decelerate or accelerate-only or decelerate-only move.
// If V is the peak speed, then (V^2 - u^2)/2a + (V^2 - v^2)/2a = distance.
// So (2V^2 - u^2 - v^2) = 2a * distance
// So V^2 = a * distance + 0.5(u^2 + v^2)
const float vsquared = (acceleration * totalDistance) + 0.5 * (fsquare(startSpeed) + fsquare(endSpeed));
if (vsquared > fsquare(startSpeed) && vsquared > fsquare(endSpeed))
{
// It's an accelerate-decelerate move. Calculate accelerate distance from: V^2 = u^2 + 2as.
accelDistance = (vsquared - fsquare(startSpeed))/(2 * acceleration);
decelDistance = totalDistance - accelDistance;
topSpeed = sqrtf(vsquared);
}
else
{
// It's an accelerate-only or decelerate-only move.
// Due to rounding errors and babystepping adjustments, we may have to adjust the acceleration slightly.
float newAcceleration;
if (startSpeed < endSpeed)
{
accelDistance = totalDistance;
decelDistance = 0.0;
topSpeed = endSpeed;
newAcceleration = (fsquare(endSpeed) - fsquare(startSpeed))/(2 * totalDistance);
}
else
{
accelDistance = 0.0;
decelDistance = totalDistance;
topSpeed = startSpeed;
newAcceleration = (fsquare(startSpeed) - fsquare(endSpeed))/(2 * totalDistance);
}
if (newAcceleration > 1.02 * acceleration)
{
// The acceleration increase is greater than we expect from rounding error, so record an error
reprap.GetMove().RecordLookaheadError();
if (reprap.Debug(moduleMove))
{
debugPrintf("DDA.cpp(%d) na=%.3f", __LINE__, (double)newAcceleration);
DebugPrint();
}
}
acceleration = newAcceleration;
}
}
else
{
// This move reaches its top speed
topSpeed = requestedSpeed;
accelDistance = accelDiff/(2 * acceleration);
decelDistance = decelDiff/(2 * acceleration);
}
if (canPauseAfter && endSpeed != 0.0)
{
const Platform& p = reprap.GetPlatform();
for (size_t drive = 0; drive < DRIVES; ++drive)
{
if (pddm[drive] != nullptr && pddm[drive]->state == DMState::moving && endSpeed * fabsf(directionVector[drive]) > p.ActualInstantDv(drive))
{
canPauseAfter = false;
break;
}
}
}
// We need to set the number of clocks needed here because we use it before the move has been frozen
const float totalTime = (2 * topSpeed - startSpeed - endSpeed)/acceleration + (totalDistance - accelDistance - decelDistance)/topSpeed;
clocksNeeded = (uint32_t)(totalTime * stepClockRate);
}
// Decide what speed we would really like this move to end at.
// On entry, targetNextSpeed is the speed we would like the next move after this one to start at and this one to end at
// On return, targetNextSpeed is the actual speed we can achieve without exceeding the jerk limits.
// Do not reduce targetNextSpeed below the existing value of endSpeed because that may make the move infeasible.
void DDA::MatchSpeeds()
{
if (targetNextSpeed < endSpeed)
{
reprap.GetMove().RecordLookaheadError();
if (reprap.Debug(moduleMove))
{
debugPrintf("DDA.cpp(%d) tn=%.3f ", __LINE__, (double)targetNextSpeed);
DebugPrint();
}
return;
}
for (size_t drive = 0; drive < DRIVES; ++drive)
{
if ( (pddm[drive] != nullptr && pddm[drive]->state == DMState::moving)
|| (next->pddm[drive] != nullptr && next->pddm[drive]->state == DMState::moving)
)
{
const float totalFraction = fabsf(directionVector[drive] - next->directionVector[drive]);
const float jerk = totalFraction * targetNextSpeed;
const float allowedJerk = reprap.GetPlatform().ActualInstantDv(drive);
if (jerk > allowedJerk)
{
targetNextSpeed = allowedJerk/totalFraction;
if (targetNextSpeed < endSpeed)
{
reprap.GetMove().RecordLookaheadError();
if (reprap.Debug(moduleMove))
{
debugPrintf("DDA.cpp(%d) tn=%.3f ", __LINE__, (double)targetNextSpeed);
DebugPrint();
}
return;
}
}
}
}
}
// This is called by Move::CurrentMoveCompleted to update the live coordinates from the move that has just finished
bool DDA::FetchEndPosition(volatile int32_t ep[DRIVES], volatile float endCoords[DRIVES])
{
for (size_t drive = 0; drive < DRIVES; ++drive)
{
ep[drive] = endPoint[drive];
}
if (endCoordinatesValid)
{
const size_t visibleAxes = reprap.GetGCodes().GetVisibleAxes();
for (size_t axis = 0; axis < visibleAxes; ++axis)
{
endCoords[axis] = endCoordinates[axis];
}
}
// Extrusion amounts are always valid
for (size_t eDrive = reprap.GetGCodes().GetTotalAxes(); eDrive < DRIVES; ++eDrive)
{
endCoords[eDrive] += endCoordinates[eDrive];
}
return endCoordinatesValid;
}
void DDA::SetPositions(const float move[DRIVES], size_t numDrives)
{
reprap.GetMove().EndPointToMachine(move, endPoint, numDrives);
const size_t numAxes = reprap.GetGCodes().GetVisibleAxes();
for (size_t axis = 0; axis < numAxes; ++axis)
{
endCoordinates[axis] = move[axis];
}
endCoordinatesValid = true;
}
// Get a Cartesian end coordinate from this move
float DDA::GetEndCoordinate(size_t drive, bool disableMotorMapping)
pre(disableDeltaMapping || drive < MaxAxes)
{
if (disableMotorMapping)
{
return Move::MotorEndpointToPosition(endPoint[drive], drive);
}
else
{
const size_t visibleAxes = reprap.GetGCodes().GetVisibleAxes();
if (drive < visibleAxes && !endCoordinatesValid)
{
reprap.GetMove().MotorStepsToCartesian(endPoint, visibleAxes, reprap.GetGCodes().GetTotalAxes(), endCoordinates);
endCoordinatesValid = true;
}
return endCoordinates[drive];
}
}
// Prepare this DDA for execution.
// This must not be called with interrupts disabled, because it calls Platform::EnableDrive.
void DDA::Prepare(uint8_t simMode)
{
PrepParams params;
params.decelStartDistance = totalDistance - decelDistance;
if (simMode == 0)
{
if (isDeltaMovement)
{
// This code assumes that the previous move in the DDA ring is the previously-executed move, because it fetches the X and Y end coordinates from that move.
// Therefore the Move code must not store a new move in that entry until this one has been prepared! (It took me ages to track this down.)
// Ideally we would store the initial X and Y coordinates in the DDA, but we need to be economical with memory in the Duet 06/085 build.
cKc = roundS32(directionVector[Z_AXIS] * DriveMovement::Kc);
params.a2plusb2 = fsquare(directionVector[X_AXIS]) + fsquare(directionVector[Y_AXIS]);
params.initialX = prev->GetEndCoordinate(X_AXIS, false);
params.initialY = prev->GetEndCoordinate(Y_AXIS, false);
params.dparams = static_cast<const LinearDeltaKinematics*>(&(reprap.GetMove().GetKinematics()));
params.diagonalSquared = params.dparams->GetDiagonalSquared();
params.a2b2D2 = params.a2plusb2 * params.diagonalSquared;
}
// Convert the accelerate/decelerate distances to times
const float accelStopTime = (topSpeed - startSpeed)/acceleration;
const float decelStartTime = accelStopTime + (params.decelStartDistance - accelDistance)/topSpeed;
startSpeedTimesCdivA = (uint32_t)roundU32((startSpeed * stepClockRate)/acceleration);
params.topSpeedTimesCdivA = (uint32_t)roundU32((topSpeed * stepClockRate)/acceleration);
topSpeedTimesCdivAPlusDecelStartClocks = params.topSpeedTimesCdivA + (uint32_t)roundU32(decelStartTime * stepClockRate);
extraAccelerationClocks = roundS32((accelStopTime - (accelDistance/topSpeed)) * stepClockRate);
params.compFactor = (topSpeed - startSpeed)/topSpeed;
firstDM = nullptr;
const size_t numAxes = reprap.GetGCodes().GetTotalAxes();
for (size_t drive = 0; drive < DRIVES; ++drive)
{
DriveMovement* const pdm = pddm[drive];
if (pdm != nullptr && pdm->state == DMState::moving)
{
if (isLeadscrewAdjustmentMove)
{
reprap.GetPlatform().EnableDrive(Z_AXIS); // ensure all Z motors are enabled
pdm->PrepareCartesianAxis(*this, params);
// Check for sensible values, print them if they look dubious
if (reprap.Debug(moduleDda) && pdm->totalSteps > 1000000)
{
DebugPrintAll();
}
}
else
{
reprap.GetPlatform().EnableDrive(drive);
if (drive >= numAxes)
{
pdm->PrepareExtruder(*this, params, usePressureAdvance);
// Check for sensible values, print them if they look dubious
if (reprap.Debug(moduleDda)
&& ( pdm->totalSteps > 1000000
|| pdm->reverseStartStep < pdm->mp.cart.decelStartStep
|| (pdm->reverseStartStep <= pdm->totalSteps
&& pdm->mp.cart.fourMaxStepDistanceMinusTwoDistanceToStopTimesCsquaredDivA > (int64_t)(pdm->mp.cart.twoCsquaredTimesMmPerStepDivA * pdm->reverseStartStep))
)
)
{
DebugPrintAll();
}
}
else if (isDeltaMovement && drive < DELTA_AXES) // for now, additional axes are assumed to be not part of the delta mechanism
{
pdm->PrepareDeltaAxis(*this, params);
// Check for sensible values, print them if they look dubious
if (reprap.Debug(moduleDda) && pdm->totalSteps > 1000000)
{
DebugPrintAll();
}
}
else
{
pdm->PrepareCartesianAxis(*this, params);
// Check for sensible values, print them if they look dubious
if (reprap.Debug(moduleDda) && pdm->totalSteps > 1000000)
{
DebugPrintAll();
}
}
}
// Prepare for the first step
pdm->nextStep = 0;
pdm->nextStepTime = 0;
pdm->stepInterval = 999999; // initialise to a large value so that we will calculate the time for just one step
pdm->stepsTillRecalc = 0; // so that we don't skip the calculation
const bool stepsToDo = (isDeltaMovement && drive < numAxes)
? pdm->CalcNextStepTimeDelta(*this, false)
: pdm->CalcNextStepTimeCartesian(*this, false);
if (stepsToDo)
{
InsertDM(pdm);
}
else
{
pdm->state = DMState::idle;
}
}
}
if (reprap.Debug(moduleDda) && reprap.Debug(moduleMove)) // temp show the prepared DDA if debug enabled for both modules
{
DebugPrintAll();
}
#if DDA_MOVE_DEBUG
MoveParameters& m = savedMoves[savedMovePointer];
m.accelDistance = accelDistance;
m.decelDistance = decelDistance;
m.steadyDistance = totalDistance - accelDistance - decelDistance;
m.requestedSpeed = requestedSpeed;
m.startSpeed = startSpeed;
m.topSpeed = topSpeed;
m.endSpeed = endSpeed;
m.targetNextSpeed = targetNextSpeed;
m.endstopChecks = endStopsToCheck;
m.flags = flags;
savedMovePointer = (savedMovePointer + 1) % NumSavedMoves;
#endif
}
state = frozen; // must do this last so that the ISR doesn't start executing it before we have finished setting it up
}
// Take a unit positive-hyperquadrant vector, and return the factor needed to obtain
// length of the vector as projected to touch box[].
/*static*/ float DDA::VectorBoxIntersection(const float v[], const float box[], size_t dimensions)
{
// Generate a vector length that is guaranteed to exceed the size of the box
const float biggerThanBoxDiagonal = 2.0*Magnitude(box, dimensions);
float magnitude = biggerThanBoxDiagonal;
for (size_t d = 0; d < dimensions; d++)
{
if (biggerThanBoxDiagonal*v[d] > box[d])
{
const float a = box[d]/v[d];
if (a < magnitude)
{
magnitude = a;
}
}
}
return magnitude;
}
// Normalise a vector with dim1 dimensions so that it is unit in the first dim2 dimensions, and also return its previous magnitude in dim2 dimensions
/*static*/ float DDA::Normalise(float v[], size_t dim1, size_t dim2)
{
const float magnitude = Magnitude(v, dim2);
if (magnitude <= 0.0)
{
return 0.0;
}
Scale(v, 1.0/magnitude, dim1);
return magnitude;
}
// Make the direction vector unit-normal in XYZ and return the previous magnitude
float DDA::NormaliseXYZ()
{
// First calculate the magnitude of the vector. If there is more than one X or Y axis, take an average of their movements (they should be equal).
float xMagSquared = 0.0, yMagSquared = 0.0;
unsigned int numXaxes = 0, numYaxes = 0;
for (size_t d = 0; d < MaxAxes; ++d)
{
if (IsBitSet(xAxes, d))
{
xMagSquared += fsquare(directionVector[d]);
++numXaxes;
}
if (IsBitSet(yAxes, d))
{
yMagSquared += fsquare(directionVector[d]);
++numYaxes;
}
}
if (numXaxes > 1)
{
xMagSquared /= numXaxes;
}
if (numYaxes > 1)
{
yMagSquared /= numYaxes;
}
const float magnitude = sqrtf(xMagSquared + yMagSquared + fsquare(directionVector[Z_AXIS]));
if (magnitude <= 0.0)
{
return 0.0;
}
// Now normalise it
Scale(directionVector, 1.0/magnitude, DRIVES);
return magnitude;
}
// Return the magnitude of a vector
/*static*/ float DDA::Magnitude(const float v[], size_t dimensions)
{
float magnitude = 0.0;
for (size_t d = 0; d < dimensions; d++)
{
magnitude += v[d]*v[d];
}
return sqrtf(magnitude);
}
// Multiply a vector by a scalar
/*static*/ void DDA::Scale(float v[], float scale, size_t dimensions)
{
for (size_t d = 0; d < dimensions; d++)
{
v[d] *= scale;
}
}
// Move a vector into the positive hyperquadrant
/*static*/ void DDA::Absolute(float v[], size_t dimensions)
{
for (size_t d = 0; d < dimensions; d++)
{
v[d] = fabsf(v[d]);
}
}
void DDA::CheckEndstops(Platform& platform)
{
if ((endStopsToCheck & ZProbeActive) != 0) // if the Z probe is enabled in this move
{
// Check whether the Z probe has been triggered. On a delta at least, this must be done separately from endstop checks,
// because we have both a high endstop and a Z probe, and the Z motor is not the same thing as the Z axis.
switch (platform.GetZProbeResult())
{
case EndStopHit::lowHit:
MoveAborted(); // set the state to completed and recalculate the endpoints
reprap.GetGCodes().MoveStoppedByZProbe();
return;
case EndStopHit::nearStop:
ReduceHomingSpeed();
break;
default:
break;
}
}
#if DDA_LOG_PROBE_CHANGES
else if ((endStopsToCheck & LogProbeChanges) != 0)
{
switch (platform.GetZProbeResult())
{
case EndStopHit::lowHit:
if (!probeTriggered)
{
probeTriggered = true;
LogProbePosition();
}
break;
case EndStopHit::nearStop:
case EndStopHit::noStop:
if (probeTriggered)
{
probeTriggered = false;
LogProbePosition();
}
break;
default:
break;
}
}
#endif
const size_t numAxes = reprap.GetGCodes().GetTotalAxes();
for (size_t drive = 0; drive <
#if HAS_STALL_DETECT
DRIVES
#else
numAxes
#endif
; ++drive)
{
if (IsBitSet(endStopsToCheck, drive))
{
const EndStopHit esh = platform.Stopped(drive);
switch (esh)
{
case EndStopHit::lowHit:
case EndStopHit::highHit:
if ((endStopsToCheck & UseSpecialEndstop) != 0) // use only one (probably non-default) endstop while probing a tool offset
{
MoveAborted();
}
else
{
ClearBit(endStopsToCheck, drive); // clear this check so that we can check for more
const Kinematics& kin = reprap.GetMove().GetKinematics();
if ( endStopsToCheck == 0 // if no endstops left to check
#if HAS_STALL_DETECT
|| drive >= numAxes // or we are stopping on an extruder motor stall
#endif
|| kin.QueryTerminateHomingMove(drive) // or this kinematics requires us to stop the move now
)
{
MoveAborted(); // no more endstops to check, or this axis uses shared motors, so stop the entire move
}
else
{
StopDrive(drive); // we must stop the drive before we mess with its coordinates
}
if (drive < numAxes && IsHomingAxes())
{
kin.OnHomingSwitchTriggered(drive, esh == EndStopHit::highHit, reprap.GetPlatform().GetDriveStepsPerUnit(), *this);
reprap.GetGCodes().SetAxisIsHomed(drive);
}
}
break;
case EndStopHit::nearStop:
// Only reduce homing speed if there are no more axes to be homed. This allows us to home X and Y simultaneously.
if (endStopsToCheck == MakeBitmap<AxesBitmap>(drive))
{
ReduceHomingSpeed();
}
break;
default:
break;
}
}
}
}
// The remaining functions are speed-critical, so use full optimisation
// The GCC optimize pragma appears to be broken, if we try to force O3 optimisation here then functions are never inlined
// Start executing this move, returning true if Step() needs to be called immediately. Must be called with interrupts disabled, to avoid a race condition.
// Returns true if the caller needs to call the step ISR immediately.
bool DDA::Start(uint32_t tim)
pre(state == frozen)
{
moveStartTime = tim;
state = executing;
#if DDA_LOG_PROBE_CHANGES
if ((endStopsToCheck & LogProbeChanges) != 0)
{
numLoggedProbePositions = 0;
probeTriggered = false;
}
#endif
if (firstDM != nullptr)
{
unsigned int extrusions = 0, retractions = 0; // bitmaps of extruding and retracting drives
const size_t numAxes = reprap.GetGCodes().GetTotalAxes();
for (size_t i = 0; i < DRIVES; ++i)
{
DriveMovement* const pdm = FindDM(i);
if (pdm != nullptr && pdm->state == DMState::moving)
{
const size_t drive = pdm->drive;
reprap.GetPlatform().SetDirection(drive, pdm->direction);
if (drive >= numAxes && drive < DRIVES)
{
if (pdm->direction == FORWARDS)
{
extrusions |= (1 << (i - numAxes));
}
else
{
retractions |= (1 << (i - numAxes));
}
}
}
}
bool extruding = false;
if (extrusions != 0 || retractions != 0)
{
const unsigned int prohibitedMovements = reprap.GetProhibitedExtruderMovements(extrusions, retractions);
for (DriveMovement **dmpp = &firstDM; *dmpp != nullptr; )
{
const size_t drive = (*dmpp)->drive;
const bool thisDriveExtruding = drive >= numAxes && drive < DRIVES;
if (thisDriveExtruding && (prohibitedMovements & (1 << (drive - numAxes))) != 0)
{
*dmpp = (*dmpp)->nextDM;
}
else
{
extruding = extruding || thisDriveExtruding;
dmpp = &((*dmpp)->nextDM);
}
}
}
Platform& platform = reprap.GetPlatform();
if (extruding)
{
platform.ExtrudeOn();
}
else
{
platform.ExtrudeOff();
}
if (firstDM != nullptr)
{
return platform.ScheduleStepInterrupt(firstDM->nextStepTime + moveStartTime);
}
}
// No steps are pending. This should not happen, except perhaps for an extrude-only move when extrusion is prohibited
return true; // schedule another interrupt immediately
}
uint32_t DDA::maxReps = 0; // this holds he maximum ISR loop count
// This is called by the interrupt service routine to execute steps.
// It returns true if it needs to be called again on the DDA of the new current move, otherwise false.
// This must be as fast as possible, because it determines the maximum movement speed.
// This may occasionally get called prematurely, so it must check that a step is actually due before generating one.
bool DDA::Step()
{
Platform& platform = reprap.GetPlatform();
uint32_t lastStepPulseTime = platform.GetInterruptClocks();
bool repeat;
uint32_t numReps = 0;
do
{
// Keep this loop as fast as possible, in the case that there are no endstops to check!
// 1. Check endstop switches and Z probe if asked. This is not speed critical because fast moves do not use endstops or the Z probe.
if (endStopsToCheck != 0) // if any homing switches or the Z probe is enabled in this move
{
CheckEndstops(platform); // Call out to a separate function because this may help cache usage in the more common case where we don't call it
if (state == completed) // we may have completed the move due to triggering an endstop switch or Z probe
{
break;
}
}
// 2. Determine which drivers are due for stepping, overdue, or will be due very shortly
DriveMovement* dm = firstDM;
const uint32_t elapsedTime = (Platform::GetInterruptClocks() - moveStartTime) + MinInterruptInterval;
uint32_t driversStepping = 0;
while (dm != nullptr && elapsedTime >= dm->nextStepTime) // if the next step is due
{
++numReps;
driversStepping |= platform.GetDriversBitmap(dm->drive);
dm = dm->nextDM;
//uint32_t t3 = Platform::GetInterruptClocks() - t2;
//if (t3 > maxCalcTime) maxCalcTime = t3;
//if (t3 < minCalcTime) minCalcTime = t3;
}
// 3. Step the drivers
if ((driversStepping & platform.GetSlowDrivers()) != 0)
{
while (Platform::GetInterruptClocks() - lastStepPulseTime < platform.GetSlowDriverClocks()) {}
Platform::StepDriversHigh(driversStepping); // generate the steps
lastStepPulseTime = Platform::GetInterruptClocks();
}
else
{
Platform::StepDriversHigh(driversStepping); // generate the steps
}
// 4. Remove those drives from the list, calculate the next step times, update the direction pins where necessary,
// and re-insert them so as to keep the list in step-time order. We assume that meeting the direction pin hold time
// is not a problem for any driver type. This is not necessarily true.
DriveMovement *dmToInsert = firstDM; // head of the chain we need to re-insert
firstDM = dm; // remove the chain from the list
while (dmToInsert != dm) // note that both of these may be nullptr
{
const bool hasMoreSteps = (isDeltaMovement && dmToInsert->drive < DELTA_AXES)
? dmToInsert->CalcNextStepTimeDelta(*this, true)
: dmToInsert->CalcNextStepTimeCartesian(*this, true);
DriveMovement * const nextToInsert = dmToInsert->nextDM;
if (hasMoreSteps)
{
InsertDM(dmToInsert);
}
dmToInsert = nextToInsert;
}
// 5. Reset all step pins low
if ((driversStepping & platform.GetSlowDrivers()) != 0)
{
while (Platform::GetInterruptClocks() - lastStepPulseTime < platform.GetSlowDriverClocks()) {}
Platform::StepDriversLow(); // set all step pins low
lastStepPulseTime = Platform::GetInterruptClocks();
}
else
{
Platform::StepDriversLow(); // set all step pins low
}
// 6. Check for move completed
if (firstDM == nullptr)
{
state = completed;
break;
}
// 7. Schedule next interrupt, or if it would be too soon, generate more steps immediately
repeat = platform.ScheduleStepInterrupt(firstDM->nextStepTime + moveStartTime);
} while (repeat);
if (numReps > maxReps)
{
maxReps = numReps;
}
if (state == completed)
{
// The following finish time is wrong if we aborted the move because of endstop or Z probe checks.
// However, following a move that checks endstops or the Z probe, we always wait for the move to complete before we schedule another, so this doesn't matter.
const uint32_t finishTime = moveStartTime + clocksNeeded; // calculate how long this move should take
Move& move = reprap.GetMove();
move.CurrentMoveCompleted(); // tell Move that the current move is complete
return move.TryStartNextMove(finishTime); // schedule the next move
}
return false;
}
// Stop a drive and re-calculate the corresponding endpoint.
// For extruder drivers, we need to be able to calculate how much of the extrusion was completed after calling this.
void DDA::StopDrive(size_t drive)
{
DriveMovement* const pdm = FindDM(drive);
if (pdm != nullptr && pdm->state == DMState::moving)
{
pdm->state = DMState::idle;
if (drive < reprap.GetGCodes().GetTotalAxes())
{
endPoint[drive] -= pdm->GetNetStepsLeft();
endCoordinatesValid = false; // the XYZ position is no longer valid
}
RemoveDM(drive);
if (firstDM == nullptr)
{
state = completed;
}
}
}
// This is called when we abort a move because we have hit an endstop.
// It stop all drives and adjusts the end points of the current move to account for how far through the move we got.
// The caller must call MoveCompleted at some point after calling this.
void DDA::MoveAborted()
{
if (state == executing)
{
for (size_t drive = 0; drive < DRIVES; ++drive)
{
StopDrive(drive);
}
}
state = completed;
}
// Return the proportion of extrusion for the complete multi-segment move that has already been done.
// The move was either not started or was aborted.
float DDA::GetProportionDone(bool moveWasAborted) const
{
// Get the proportion of extrusion already done at the start of this segment
float proportionDone = (filePos != noFilePosition && filePos == prev->filePos)
? 1.0 - prev->proportionLeft
: 0.0;
if (moveWasAborted)
{
// The move was aborted, so subtract how much was done
const float proportionDoneAtEnd = 1.0 - proportionLeft;
if (proportionDoneAtEnd > proportionDone)
{
int32_t taken = 0, left = 0;
for (size_t drive = reprap.GetGCodes().GetTotalAxes(); drive < DRIVES; ++drive)
{
const DriveMovement* const pdm = FindDM(drive);
if (pdm != nullptr) // if this extruder is active
{
taken += pdm->GetNetStepsTaken();
left += pdm->GetNetStepsLeft();
}
}
const int32_t total = taken + left;
if (total > 0) // if the move has net extrusion
{
proportionDone += (((proportionDoneAtEnd - proportionDone) * taken) + (total/2)) / total;
}
}
}
return proportionDone;
}
// Reduce the speed of this move to the indicated speed.
// This is called from the ISR, so interrupts are disabled and nothing else can mess with us.
// As this is only called for homing moves and with very low speeds, we assume that we don't need acceleration or deceleration phases.
void DDA::ReduceHomingSpeed()
{
if (!goingSlow)
{
goingSlow = true;
topSpeed *= (1.0/ProbingSpeedReductionFactor);
// Adjust extraAccelerationClocks so that step timing will be correct in the steady speed phase at the new speed
const uint32_t clocksSoFar = Platform::GetInterruptClocks() - moveStartTime;
extraAccelerationClocks = (extraAccelerationClocks * (int32_t)ProbingSpeedReductionFactor) - ((int32_t)clocksSoFar * (int32_t)(ProbingSpeedReductionFactor - 1));
// We also need to adjust the total clocks needed, to prevent step errors being recorded
if (clocksSoFar < clocksNeeded)
{
clocksNeeded += (clocksNeeded - clocksSoFar) * (ProbingSpeedReductionFactor - 1u);
}
// Adjust the speed in the DMs
for (size_t drive = 0; drive < DRIVES; ++drive)
{
DriveMovement* const pdm = FindDM(drive);
if (pdm != nullptr && pdm->state == DMState::moving)
{
pdm->ReduceSpeed(*this, ProbingSpeedReductionFactor);
}
}
}
}
bool DDA::HasStepError() const
{
for (size_t drive = 0; drive < DRIVES; ++drive)
{
const DriveMovement* const pdm = FindDM(drive);
if (pdm != nullptr && pdm->state == DMState::stepError)
{
return true;
}
}
return false;
}
// Free up this DDA, returning true if the lookahead underrun flag was set
bool DDA::Free()
{
ReleaseDMs();
state = empty;
return hadLookaheadUnderrun;
}
// Return the number of net steps already taken in this move by a particular drive
int32_t DDA::GetStepsTaken(size_t drive) const
{
const DriveMovement * const dmp = FindDM(drive);
return (dmp != nullptr) ? dmp->GetNetStepsTaken() : 0;
}
bool DDA::IsNonPrintingExtruderMove(size_t drive) const
{
return !isPrintingMove && FindDM(drive) != nullptr;
}
void DDA::LimitSpeedAndAcceleration(float maxSpeed, float maxAcceleration)
{
if (requestedSpeed > maxSpeed)
{
requestedSpeed = maxSpeed;
}
if (acceleration > maxAcceleration)
{
acceleration = maxAcceleration;
}
}
// End
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