1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251
1252
1253
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
1291
1292
1293
1294
1295
1296
1297
1298
1299
1300
1301
1302
1303
1304
1305
1306
1307
1308
1309
1310
1311
1312
1313
1314
1315
1316
1317
1318
1319
1320
1321
1322
1323
1324
1325
1326
1327
1328
1329
1330
1331
1332
1333
1334
1335
1336
1337
1338
1339
1340
1341
1342
1343
1344
1345
1346
1347
1348
1349
1350
1351
1352
1353
1354
1355
1356
1357
1358
1359
1360
1361
1362
1363
1364
1365
1366
1367
1368
1369
1370
1371
1372
1373
1374
1375
1376
1377
1378
1379
1380
1381
1382
1383
1384
1385
1386
1387
1388
1389
1390
1391
1392
1393
1394
1395
1396
1397
1398
1399
1400
1401
1402
1403
1404
1405
1406
1407
1408
1409
1410
1411
1412
1413
1414
1415
1416
1417
1418
1419
1420
1421
1422
1423
1424
1425
1426
1427
1428
1429
1430
1431
1432
1433
1434
1435
1436
1437
1438
1439
1440
1441
1442
1443
1444
1445
1446
1447
1448
1449
1450
1451
1452
1453
1454
1455
1456
1457
1458
1459
1460
1461
1462
1463
1464
1465
1466
1467
1468
1469
1470
1471
1472
1473
1474
1475
1476
1477
1478
1479
1480
1481
1482
1483
1484
1485
1486
1487
1488
1489
1490
1491
1492
1493
1494
1495
1496
1497
1498
1499
1500
1501
1502
1503
1504
1505
1506
1507
1508
1509
1510
1511
1512
1513
1514
1515
1516
1517
1518
1519
1520
1521
1522
1523
1524
1525
1526
1527
1528
1529
1530
1531
1532
1533
1534
1535
1536
1537
1538
1539
1540
1541
1542
1543
1544
1545
1546
1547
1548
1549
1550
1551
1552
1553
1554
1555
1556
1557
1558
1559
1560
1561
1562
1563
1564
1565
1566
1567
1568
1569
1570
1571
1572
1573
1574
1575
1576
1577
1578
1579
1580
1581
1582
1583
1584
1585
1586
1587
1588
1589
1590
1591
1592
1593
1594
1595
1596
1597
1598
1599
1600
1601
1602
1603
1604
1605
1606
1607
1608
1609
1610
1611
1612
1613
1614
1615
1616
1617
1618
1619
1620
1621
1622
1623
1624
1625
1626
1627
1628
1629
1630
1631
1632
1633
1634
1635
1636
1637
1638
1639
1640
1641
1642
1643
1644
1645
1646
1647
1648
1649
1650
1651
1652
1653
1654
1655
1656
1657
1658
1659
1660
1661
1662
1663
1664
1665
1666
1667
1668
1669
1670
1671
1672
1673
1674
1675
1676
1677
1678
1679
1680
1681
1682
1683
1684
1685
1686
1687
1688
1689
1690
1691
1692
1693
1694
1695
1696
1697
1698
1699
1700
1701
1702
1703
1704
1705
1706
1707
1708
1709
1710
1711
1712
1713
1714
1715
1716
1717
1718
1719
1720
1721
1722
1723
1724
1725
1726
1727
1728
1729
1730
1731
1732
1733
1734
1735
1736
1737
1738
1739
1740
1741
1742
1743
1744
1745
1746
1747
1748
1749
1750
1751
1752
1753
1754
1755
1756
1757
1758
1759
1760
1761
1762
1763
1764
1765
1766
1767
1768
1769
1770
1771
1772
1773
1774
1775
1776
1777
1778
1779
1780
1781
1782
1783
1784
1785
1786
1787
1788
1789
1790
1791
1792
1793
1794
1795
1796
1797
1798
1799
1800
1801
1802
1803
1804
1805
1806
1807
1808
1809
1810
1811
1812
1813
1814
1815
1816
1817
1818
1819
1820
1821
1822
1823
1824
1825
1826
1827
1828
1829
1830
1831
1832
1833
1834
1835
1836
1837
1838
1839
1840
1841
1842
1843
1844
1845
1846
1847
1848
1849
1850
1851
1852
1853
1854
1855
1856
1857
1858
1859
1860
1861
1862
1863
1864
1865
1866
1867
1868
1869
1870
1871
1872
1873
1874
1875
1876
1877
1878
1879
1880
1881
1882
1883
1884
1885
1886
1887
1888
1889
1890
1891
1892
1893
1894
1895
1896
1897
1898
1899
1900
1901
1902
1903
1904
1905
1906
1907
1908
1909
1910
1911
1912
1913
1914
1915
1916
1917
1918
1919
1920
1921
1922
1923
1924
1925
1926
1927
1928
1929
1930
1931
1932
1933
1934
1935
1936
1937
1938
1939
1940
1941
1942
1943
1944
1945
1946
1947
1948
1949
1950
1951
1952
1953
1954
1955
1956
1957
1958
1959
1960
1961
1962
1963
1964
1965
1966
1967
1968
1969
1970
1971
1972
1973
1974
1975
1976
1977
1978
1979
1980
1981
1982
1983
1984
1985
1986
1987
1988
1989
1990
1991
1992
1993
1994
1995
1996
1997
1998
1999
2000
2001
2002
2003
2004
2005
2006
2007
2008
2009
2010
2011
2012
2013
2014
2015
2016
2017
2018
2019
2020
2021
2022
2023
2024
2025
2026
2027
2028
2029
2030
2031
2032
2033
2034
2035
2036
2037
2038
2039
2040
2041
2042
2043
2044
2045
2046
2047
2048
2049
2050
2051
2052
2053
2054
2055
2056
2057
2058
2059
2060
2061
2062
2063
2064
2065
2066
2067
2068
2069
2070
2071
2072
2073
2074
2075
2076
2077
2078
2079
2080
2081
2082
2083
2084
2085
2086
2087
2088
2089
2090
2091
2092
2093
2094
2095
2096
2097
2098
2099
2100
2101
2102
2103
2104
2105
2106
2107
2108
2109
2110
2111
2112
2113
2114
2115
2116
2117
2118
2119
2120
2121
2122
2123
2124
2125
2126
2127
2128
2129
2130
2131
2132
2133
2134
2135
2136
2137
2138
2139
2140
2141
2142
2143
2144
2145
2146
2147
2148
2149
2150
2151
2152
2153
2154
2155
2156
2157
2158
2159
2160
2161
2162
2163
2164
2165
2166
2167
2168
2169
2170
2171
2172
2173
2174
2175
2176
2177
2178
2179
2180
2181
2182
2183
2184
2185
2186
2187
2188
2189
2190
2191
2192
2193
2194
2195
2196
2197
2198
2199
2200
2201
2202
2203
2204
2205
2206
2207
2208
2209
2210
2211
2212
2213
2214
2215
2216
2217
2218
2219
2220
2221
2222
2223
2224
2225
2226
2227
2228
2229
2230
2231
2232
2233
2234
2235
2236
2237
2238
2239
2240
2241
2242
2243
2244
2245
2246
2247
2248
2249
2250
2251
2252
2253
2254
2255
2256
2257
2258
2259
2260
2261
2262
2263
2264
2265
2266
2267
2268
2269
2270
2271
2272
2273
2274
2275
2276
2277
2278
2279
2280
2281
2282
2283
2284
2285
2286
2287
2288
2289
2290
2291
2292
2293
2294
2295
2296
2297
2298
2299
2300
2301
2302
2303
2304
2305
2306
2307
2308
2309
2310
2311
2312
2313
2314
2315
2316
2317
2318
2319
2320
2321
2322
2323
2324
2325
2326
2327
2328
2329
2330
2331
2332
2333
2334
2335
2336
2337
2338
2339
2340
2341
2342
2343
2344
2345
2346
2347
2348
2349
2350
2351
2352
2353
2354
2355
2356
2357
2358
2359
2360
2361
2362
2363
2364
2365
2366
2367
2368
2369
2370
2371
2372
2373
2374
2375
2376
2377
2378
2379
2380
2381
2382
2383
2384
2385
2386
2387
2388
2389
2390
2391
2392
2393
2394
2395
2396
2397
2398
2399
2400
2401
2402
2403
2404
2405
|
/*
* DDA.cpp
*
* Created on: 7 Dec 2014
* Author: David
*/
#include "DDA.h"
#include <Platform/RepRap.h>
#include <Platform/Platform.h>
#include "Move.h"
#include "StepTimer.h"
#include <Endstops/EndstopsManager.h>
#include "Kinematics/LinearDeltaKinematics.h"
#include <Tools/Tool.h>
#if SUPPORT_CAN_EXPANSION
# include <CAN/CanMotion.h>
#endif
#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() noexcept
{
accelDistance = steadyDistance = decelDistance = requestedSpeed = startSpeed = topSpeed = endSpeed = targetNextSpeed = 0.0;
endstopChecks = 0;
flags = 0;
}
void DebugPrint() const noexcept
{
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() noexcept
{
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() noexcept
{
// 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() noexcept { }
#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() noexcept
{
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
// Set up the parameters from the DDA, excluding steadyClocks because that may be affected by input shaping
void PrepParams::SetFromDDA(const DDA& dda) noexcept
{
unshaped.decelStartDistance = dda.totalDistance - dda.beforePrepare.decelDistance;
// Due to rounding error, for an accelerate-decelerate move we may have accelDistance+decelDistance slightly greater than totalDistance.
// We need to make sure that accelDistance <= decelStartDistance for subsequent calculations to work.
unshaped.accelDistance = min<float>(dda.beforePrepare.accelDistance, unshaped.decelStartDistance);
unshaped.acceleration = dda.acceleration;
unshaped.deceleration = dda.deceleration;
unshaped.accelClocks = (dda.topSpeed - dda.startSpeed)/dda.acceleration;
unshaped.decelClocks = (dda.topSpeed - dda.endSpeed)/dda.deceleration;
#if SUPPORT_CAN_EXPANSION
initialSpeedFraction = dda.startSpeed/dda.topSpeed;
finalSpeedFraction = dda.endSpeed/dda.topSpeed;
#endif
}
// Calculate the steady clocks and set the total clocks in the DDA
void PrepParams::PrepParamSet::Finalise(float topSpeed) noexcept
{
const float steadyDistance = decelStartDistance - accelDistance;
steadyClocks = (steadyDistance <= 0.0) ? 0.0 : steadyDistance/topSpeed;
}
DDA::DDA(DDA* n) noexcept : next(n), prev(nullptr), state(empty)
{
activeDMs = completedDMs = nullptr;
shapedSegments = unshapedSegments = nullptr;
tool = nullptr; // needed in case we pause before any moves have been done
// Set the endpoints to zero, because Move will ask 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;
}
flags.all = 0; // in particular we need to set endCoordinatesValid and usePressureAdvance to false
virtualExtruderPosition = 0.0;
filePos = noFilePosition;
#if SUPPORT_LASER || SUPPORT_IOBITS
laserPwmOrIoBits.Clear();
#endif
}
void DDA::ReleaseDMs() noexcept
{
// Normally there should be no active DMs, but release any that there may be
for (DriveMovement* dm = activeDMs; dm != nullptr; )
{
DriveMovement* const dnext = dm->nextDM;
DriveMovement::Release(dm);
dm = dnext;
}
for (DriveMovement* dm = completedDMs; dm != nullptr; )
{
DriveMovement* const dnext = dm->nextDM;
DriveMovement::Release(dm);
dm = dnext;
}
activeDMs = completedDMs = nullptr;
for (MoveSegment* seg = shapedSegments; seg != nullptr; )
{
MoveSegment* const nextSeg = seg->GetNext();
MoveSegment::Release(seg);
seg = nextSeg;
}
for (MoveSegment* seg = unshapedSegments; seg != nullptr; )
{
MoveSegment* const nextSeg = seg->GetNext();
MoveSegment::Release(seg);
seg = nextSeg;
}
shapedSegments = unshapedSegments = 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 noexcept
pre(state == executing || state == frozen || state == completed)
{
return (state == completed) ? 0
: (state == executing) ? (int32_t)(afterPrepare.moveStartTime + clocksNeeded - StepTimer::GetTimerTicks())
: (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) noexcept
{
DriveMovement **dmp = &activeDMs;
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 and put it in the completed list
// Called from the step ISR only.
void DDA::DeactivateDM(size_t drive) noexcept
{
DriveMovement **dmp = &activeDMs;
while (*dmp != nullptr)
{
DriveMovement * const dm = *dmp;
if (dm->drive == drive)
{
(*dmp) = dm->nextDM;
dm->state = DMState::idle;
dm->nextDM = completedDMs;
completedDMs = dm;
break;
}
dmp = &(dm->nextDM);
}
}
void DDA::DebugPrintVector(const char *name, const float *vec, size_t len) const noexcept
{
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 char *tag) const noexcept
{
const size_t numAxes = reprap.GetGCodes().GetTotalAxes();
debugPrintf("%s %u ts=%" PRIu32 " DDA:", tag, (unsigned int)state, afterPrepare.moveStartTime);
if (flags.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(" s=%.4e", (double)totalDistance);
DebugPrintVector(" vec", directionVector, MaxAxesPlusExtruders);
debugPrintf("\n" "a=%.4e d=%.4e reqv=%.4e startv=%.4e topv=%.4e endv=%.4e cks=%" PRIu32 " fp=%" PRIu32 " fl=%04x\n",
(double)acceleration, (double)deceleration, (double)requestedSpeed, (double)startSpeed, (double)topSpeed, (double)endSpeed, clocksNeeded, (uint32_t)filePos, flags.all);
for (const MoveSegment *segs = shapedSegments; segs != nullptr; segs = segs->GetNext())
{
segs->DebugPrint('S');
}
for (const MoveSegment *segs = unshapedSegments; segs != nullptr; segs = segs->GetNext())
{
segs->DebugPrint('U');
}
}
// Print the DDA and active DMs
void DDA::DebugPrintAll(const char *tag) const noexcept
{
DebugPrint(tag);
for (DriveMovement* dm = activeDMs; dm != nullptr; dm = dm->nextDM)
{
dm->DebugPrint();
}
for (DriveMovement* dm = completedDMs; dm != nullptr; dm = dm->nextDM)
{
dm->DebugPrint();
}
}
// 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::InitStandardMove(DDARing& ring, const RawMove &nextMove, bool doMotorMapping) noexcept
{
// 0. If there are more total axes than visible axes, then we must ignore any movement data in nextMove for the invisible axes.
// The call to CartesianToMotorSteps may adjust the invisible axis endpoints for architectures such as CoreXYU and delta with >3 towers, so set them up here.
const size_t numTotalAxes = reprap.GetGCodes().GetTotalAxes();
const size_t numVisibleAxes = reprap.GetGCodes().GetVisibleAxes();
const int32_t * const positionNow = prev->DriveCoordinates();
for (size_t axis = numVisibleAxes; axis < numTotalAxes; ++axis)
{
endPoint[axis] = positionNow[axis];
}
flags.all = 0; // set all flags false
// 1. Compute the new endpoints and the movement vector
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
}
#if SUPPORT_LINEAR_DELTA
flags.isDeltaMovement = move.IsDeltaMode()
&& (endPoint[X_AXIS] != positionNow[X_AXIS] || endPoint[Y_AXIS] != positionNow[Y_AXIS] || endPoint[Z_AXIS] != positionNow[Z_AXIS]);
#endif
}
bool linearAxesMoving = false;
bool rotationalAxesMoving = false;
bool extrudersMoving = false;
bool forwardExtruding = false;
float accelerations[MaxAxesPlusExtruders];
const float * const normalAccelerations = reprap.GetPlatform().Accelerations(nextMove.reduceAcceleration);
for (size_t drive = 0; drive < MaxAxesPlusExtruders; drive++)
{
accelerations[drive] = normalAccelerations[drive];
if (drive < numVisibleAxes)
{
int32_t delta;
if (doMotorMapping)
{
endCoordinates[drive] = nextMove.coords[drive];
delta = endPoint[drive] - positionNow[drive];
const float positionDelta = endCoordinates[drive] - prev->GetEndCoordinate(drive, false);
directionVector[drive] = positionDelta;
if (positionDelta != 0.0)
{
if (reprap.GetPlatform().IsAxisRotational(drive))
{
rotationalAxesMoving = true;
}
else
{
linearAxesMoving = true;
}
if (Tool::GetXAxes(nextMove.tool).IsBitSet(drive) || Tool::GetYAxes(nextMove.tool).IsBitSet(drive))
{
flags.xyMoving = true; // this move has XY movement in user space, before axis were mapped
}
}
}
else
{
// Raw motor move on a visible axis
endPoint[drive] = Move::MotorMovementToSteps(drive, nextMove.coords[drive]);
delta = endPoint[drive] - positionNow[drive];
directionVector[drive] = (float)delta/reprap.GetPlatform().DriveStepsPerUnit(drive);
if (delta != 0)
{
if (reprap.GetPlatform().IsAxisRotational(drive))
{
rotationalAxesMoving = true;
}
else
{
linearAxesMoving = true;
}
}
}
#if 0 // debug only
if (delta != 0)
{
stepsRequested[drive] += labs(delta);
}
#endif
}
else if (LogicalDriveToExtruder(drive) < reprap.GetGCodes().GetNumExtruders())
{
// It's an extruder drive. We defer calculating the steps because they may be affected by nonlinear extrusion, which we can't calculate until we
// know the speed of the move, and because extruder movement is relative so we need to accumulate fractions of a whole step between moves.
const float movement = nextMove.coords[drive];
endCoordinates[drive] = directionVector[drive] = movement; // for an extruder, endCoordinates is the amount of movement
if (movement != 0.0)
{
extrudersMoving = true;
if (movement > 0.0)
{
forwardExtruding = true;
}
if (flags.xyMoving && nextMove.usePressureAdvance)
{
const float compensationClocks = reprap.GetMove().GetPressureAdvanceClocks(LogicalDriveToExtruder(drive));
if (compensationClocks > 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().GetInstantDv(drive)/compensationClocks);
}
}
}
}
else
{
directionVector[drive] = 0.0;
}
}
// 2. Throw it away if there's no real movement.
if (!(linearAxesMoving || rotationalAxesMoving || extrudersMoving))
{
// 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 < numTotalAxes; ++drive)
{
prev->endCoordinates[drive] = nextMove.coords[drive];
}
}
return false;
}
// 3. Store some values
tool = nextMove.tool;
flags.checkEndstops = nextMove.checkEndstops;
filePos = nextMove.filePos;
virtualExtruderPosition = nextMove.virtualExtruderPosition;
proportionDone = nextMove.proportionDone;
initialUserC0 = nextMove.initialUserC0;
initialUserC1 = nextMove.initialUserC1;
flags.canPauseAfter = nextMove.canPauseAfter;
flags.usingStandardFeedrate = nextMove.usingStandardFeedrate;
flags.isPrintingMove = flags.xyMoving && forwardExtruding; // require forward extrusion so that wipe-while-retracting doesn't count
flags.isNonPrintingExtruderMove = extrudersMoving && !flags.isPrintingMove; // flag used by filament monitors - we can ignore Z movement
flags.usePressureAdvance = nextMove.usePressureAdvance;
flags.controlLaser = nextMove.isCoordinated && nextMove.checkEndstops == 0;
// 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
flags.endCoordinatesValid = !nextMove.checkEndstops && doMotorMapping;
flags.continuousRotationShortcut = (nextMove.moveType == 0);
#if SUPPORT_LASER || SUPPORT_IOBITS
if (flags.controlLaser)
{
laserPwmOrIoBits = nextMove.laserPwmOrIoBits;
}
else
{
laserPwmOrIoBits.Clear();
}
#endif
// 4. Normalise the direction vector and compute the amount of motion.
// NIST standard section 2.1.2.5 rule A: if any of XYZ is moving then the feed rate specifies the linear XYZ movement
// We treat additional linear axes the same as XYZ
const Kinematics& k = move.GetKinematics();
if (linearAxesMoving)
{
// There is some linear axis movement, so normalise the direction vector so that the total linear movement has unit length and 'totalDistance' is the linear 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.
directionVector[Z_AXIS] += (directionVector[X_AXIS] * k.GetTiltCorrection(X_AXIS)) + (directionVector[Y_AXIS] * k.GetTiltCorrection(Y_AXIS));
totalDistance = NormaliseLinearMotion(reprap.GetPlatform().GetLinearAxes());
}
else if (rotationalAxesMoving)
{
// Some axes are moving, but not axes that X or Y are mapped to. Normalise the movement to the vector sum of the axes that are moving.
totalDistance = Normalise(directionVector, reprap.GetPlatform().GetRotationalAxes());
}
else
{
// Extruder-only movement. Normalise so that the magnitude is the total absolute movement. This gives the correct feed rate for mixing extruders.
totalDistance = 0.0;
for (size_t d = 0; d < MaxAxesPlusExtruders; d++)
{
totalDistance += fabsf(directionVector[d]);
}
if (totalDistance > 0.0) // should always be true
{
Scale(directionVector, 1.0/totalDistance);
}
}
// 5. Compute the maximum acceleration available
float normalisedDirectionVector[MaxAxesPlusExtruders]; // used to hold a unit-length vector in the direction of motion
memcpyf(normalisedDirectionVector, directionVector, ARRAY_SIZE(normalisedDirectionVector));
Absolute(normalisedDirectionVector, MaxAxesPlusExtruders);
acceleration = beforePrepare.maxAcceleration = VectorBoxIntersection(normalisedDirectionVector, accelerations);
if (flags.xyMoving) // apply M204 acceleration limits to XY moves
{
acceleration = min<float>(acceleration, (flags.isPrintingMove) ? move.GetMaxPrintingAcceleration() : move.GetMaxTravelAcceleration());
}
deceleration = acceleration;
// 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 < numTotalAxes; ++axis)
{
if (k.GetMotionType(axis) == MotionType::segmentFreeDelta && normalisedDirectionVector[axis] > maxDistance)
{
maxDistance = normalisedDirectionVector[axis];
}
}
if (maxDistance != 0.0) // should be true if we are homing a delta
{
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 configured minimum movement speed. We must apply the minimum speed first and then limit it if necessary after that.
requestedSpeed = min<float>(max<float>(reqSpeed, reprap.GetPlatform().MinMovementSpeed()),
VectorBoxIntersection(normalisedDirectionVector, reprap.GetPlatform().MaxFeedrates()));
// 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 other architectures, this is not OK and any movement in the XY plane should be limited on other ways.
if (doMotorMapping)
{
k.LimitSpeedAndAcceleration(*this, normalisedDirectionVector, numVisibleAxes, flags.continuousRotationShortcut); // 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 && (move.GetJerkPolicy() != 0 || (flags.isPrintingMove == prev->flags.isPrintingMove && flags.xyMoving == prev->flags.xyMoving)))
{
// 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->beforePrepare.targetNextSpeed = min<float>(fastSqrtf(deceleration * totalDistance * 2.0), requestedSpeed);
DoLookahead(ring, prev);
startSpeed = prev->endSpeed;
}
else
{
// There is no previous move that we can adjust, so start at zero speed.
startSpeed = 0.0;
}
RecalculateMove(ring);
state = provisional;
return true;
}
// Set up a leadscrew motor move returning true if the move does anything
bool DDA::InitLeadscrewMove(DDARing& ring, float feedrate, const float adjustments[MaxDriversPerAxis]) noexcept
{
// 1. Compute the new endpoints and the movement vector
bool realMove = false;
for (size_t drive = 0; drive < MaxAxesPlusExtruders; drive++)
{
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] = 0.0;
}
for (size_t driver = 0; driver < MaxDriversPerAxis; ++driver)
{
directionVector[driver] = adjustments[driver]; // for leadscrew adjustment moves, store the adjustment needed in directionVector
const int32_t delta = lrintf(adjustments[driver] * reprap.GetPlatform().DriveStepsPerUnit(Z_AXIS));
if (delta != 0)
{
realMove = true;
}
}
// 2. Throw it away if there's no real movement.
if (!realMove)
{
return false;
}
// 3. Store some values
flags.all = 0;
flags.isLeadscrewAdjustmentMove = true;
virtualExtruderPosition = prev->virtualExtruderPosition;
tool = nullptr;
filePos = prev->filePos;
flags.endCoordinatesValid = prev->flags.endCoordinatesValid;
acceleration = deceleration = reprap.GetPlatform().Acceleration(Z_AXIS);
#if SUPPORT_LASER && SUPPORT_IOBITS
if (reprap.GetGCodes().GetMachineType() == MachineType::laser)
{
laserPwmOrIoBits.Clear();
}
else
{
laserPwmOrIoBits = prev->laserPwmOrIoBits;
}
#elif SUPPORT_LASER
laserPwmOrIoBits.Clear();
#elif SUPPORT_IOBITS
laserPwmOrIoBits = prev->laserPwmOrIoBits;
#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);
// 6. Set the speed to the smaller of the requested and maximum speed.
requestedSpeed = feedrate;
// 7. Calculate the provisional accelerate and decelerate distances and the top speed
startSpeed = endSpeed = 0.0;
RecalculateMove(ring);
state = provisional;
return true;
}
# if SUPPORT_ASYNC_MOVES
// Set up an async motor move returning true if the move does anything.
// All async moves are relative and linear.
bool DDA::InitAsyncMove(DDARing& ring, const AsyncMove& nextMove) noexcept
{
// 1. Compute the new endpoints and the movement vector
bool realMove = false;
for (size_t drive = 0; drive < MaxAxesPlusExtruders; drive++)
{
// Note, the correspondence between endCoordinates and endPoint will not be exact because of rounding error.
// This doesn't matter for the current application because we don't use either of these fields.
// If it's a delta then we can only do async tower moves in the Z direction and on any additional linear axes
const size_t axisToUse = (reprap.GetMove().GetKinematics().GetMotionType(drive) == MotionType::segmentFreeDelta) ? Z_AXIS : drive;
directionVector[drive] = nextMove.movements[axisToUse];
const int32_t delta = lrintf(nextMove.movements[axisToUse] * reprap.GetPlatform().DriveStepsPerUnit(drive));
endPoint[drive] = prev->endPoint[drive] + delta;
endCoordinates[drive] = prev->endCoordinates[drive];
if (delta != 0)
{
realMove = true;
}
}
// 2. Throw it away if there's no real movement.
if (!realMove)
{
return false;
}
// 3. Store some values
flags.all = 0;
virtualExtruderPosition = 0;
tool = nullptr;
filePos = noFilePosition;
startSpeed = nextMove.startSpeed;
endSpeed = nextMove.endSpeed;
requestedSpeed = nextMove.requestedSpeed;
acceleration = nextMove.acceleration;
deceleration = nextMove.deceleration;
#if SUPPORT_LASER || SUPPORT_IOBITS
laserPwmOrIoBits.Clear();
#endif
// Currently we normalise the vector sum of all motor movements to unit length.
totalDistance = Normalise(directionVector);
RecalculateMove(ring);
state = provisional;
return true;
}
#endif
#if SUPPORT_REMOTE_COMMANDS
// Set up a remote move. Return true if it represents real movement, else false.
// All values have already been converted to step clocks and the total distance has been normalised to 1.0.
//TODO pass the input shaping plan in the message. For now we don't use input shaping.
# if USE_REMOTE_INPUT_SHAPING
bool DDA::InitShapedFromRemote(const CanMessageMovementLinearShaped& msg) noexcept
# else
bool DDA::InitFromRemote(const CanMessageMovementLinear& msg) noexcept
#endif
{
afterPrepare.moveStartTime = StepTimer::ConvertToLocalTime(msg.whenToExecute);
clocksNeeded = msg.accelerationClocks + msg.steadyClocks + msg.decelClocks;
flags.all = 0;
flags.isRemote = true;
# if !USE_REMOTE_INPUT_SHAPING
flags.isPrintingMove = (msg.pressureAdvanceDrives != 0);
# endif
// Normalise the move to unit distance and convert time units from step clocks to seconds
totalDistance = 1.0;
topSpeed = 2.0/(2 * msg.steadyClocks + (msg.initialSpeedFraction + 1.0) * msg.accelerationClocks + (msg.finalSpeedFraction + 1.0) * msg.decelClocks);
startSpeed = topSpeed * msg.initialSpeedFraction;
endSpeed = topSpeed * msg.finalSpeedFraction;
acceleration = (msg.accelerationClocks == 0) ? 0.0 : (topSpeed * (1.0 - msg.initialSpeedFraction))/msg.accelerationClocks;
deceleration = (msg.decelClocks == 0) ? 0.0 : (topSpeed * (1.0 - msg.finalSpeedFraction))/msg.decelClocks;
PrepParams params;
params.unshaped.accelDistance = topSpeed * (1.0 + msg.initialSpeedFraction) * msg.accelerationClocks * 0.5;
const float decelDistance = topSpeed * (1.0 + msg.finalSpeedFraction) * msg.decelClocks * 0.5;
params.unshaped.decelStartDistance = 1.0 - decelDistance;
params.unshaped.accelClocks = msg.accelerationClocks;
params.unshaped.steadyClocks = msg.steadyClocks;
params.unshaped.decelClocks = msg.decelClocks;
params.unshaped.acceleration = acceleration;
params.unshaped.deceleration = deceleration;
shapedSegments = unshapedSegments = nullptr;
activeDMs = completedDMs = nullptr;
# if USE_REMOTE_INPUT_SHAPING
const size_t numDrivers = min<size_t>(msg.numDriversMinusOne + 1, min<size_t>(NumDirectDrivers, MaxLinearDriversPerCanSlave));
# else
const size_t numDrivers = min<size_t>(msg.numDrivers, min<size_t>(NumDirectDrivers, MaxLinearDriversPerCanSlave));
# endif
for (size_t drive = 0; drive < numDrivers; drive++)
{
endPoint[drive] = prev->endPoint[drive]; // the steps for this move will be added later
# if USE_REMOTE_INPUT_SHAPING
switch (msg.GetMoveType(drive))
{
case CanMessageMovementLinearShaped::shapedAxis:
// Note, drivers that are not moving are set to shapedAxis, so we need to check that the driver really is moving
{
const int32_t delta = msg.perDrive[drive].iSteps;
if (delta != 0)
{
if (shapedSegments == nullptr)
{
// Calculate the segments needed for axis movement
//TODO the message will include input shaping info
shapedSegments = AxisShaper::GetUnshapedSegments(*this, params);
}
DriveMovement* const pdm = DriveMovement::Allocate(drive, DMState::idle);
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
reprap.GetPlatform().EnableDrivers(drive);
const bool stepsToDo = pdm->PrepareCartesianAxis(*this, params);
if (stepsToDo)
{
pdm->directionChanged = false;
InsertDM(pdm);
const uint32_t netSteps = (pdm->reverseStartStep < pdm->totalSteps) ? (2 * pdm->reverseStartStep) - pdm->totalSteps : pdm->totalSteps;
if (pdm->direction)
{
endPoint[drive] += netSteps;
}
else
{
endPoint[drive] -= netSteps;
}
// Check for sensible values, print them if they look dubious
if (reprap.Debug(moduleDda) && pdm->totalSteps > 1000000)
{
DebugPrintAll("rem");
}
}
else
{
DriveMovement::Release(pdm);
}
}
}
break;
case CanMessageMovementLinearShaped::shapedDelta:
{
if (shapedSegments == nullptr)
{
// Calculate the segments needed for axis movement
//TODO the message will include input shaping info
shapedSegments = AxisShaper::GetUnshapedSegments(*this, params);
}
//TODO
}
break;
case CanMessageMovementLinearShaped::extruderWithPa:
flags.usePressureAdvance = true; // either all extruder use pressure advance, or none do
// no break
case CanMessageMovementLinearShaped::MoveType::extruderNoPa:
{
if (unshapedSegments != nullptr)
{
unshapedSegments = AxisShaper::GetUnshapedSegments(*this, params);
}
if (unshapedSegments != nullptr)
{
DriveMovement* const pdm = DriveMovement::Allocate(drive, DMState::idle);
pdm->PrepareExtruder(*this, params);
InsertDM(pdm);
}
}
break;
}
}
# else
const int32_t delta = msg.perDrive[drive].steps;
if (delta != 0)
{
if (shapedSegments == nullptr)
{
EnsureUnshapedSegments(params);
}
DriveMovement* const pdm = DriveMovement::Allocate(drive, DMState::idle);
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
reprap.GetPlatform().EnableDrivers(drive, false);
const bool stepsToDo = ((msg.pressureAdvanceDrives & (1u << drive)) != 0)
? pdm->PrepareExtruder(*this, params)
: pdm->PrepareCartesianAxis(*this, params);
if (stepsToDo)
{
pdm->directionChanged = false;
InsertDM(pdm);
const uint32_t netSteps = (pdm->reverseStartStep < pdm->totalSteps) ? (2 * pdm->reverseStartStep) - pdm->totalSteps : pdm->totalSteps;
if (pdm->direction)
{
endPoint[drive] += netSteps;
}
else
{
endPoint[drive] -= netSteps;
}
// Check for sensible values, print them if they look dubious
if (reprap.Debug(moduleDda) && pdm->totalSteps > 1000000)
{
DebugPrintAll("rem");
}
}
else
{
DriveMovement::Release(pdm);
}
}
}
# endif
// 2. Throw it away if there's no real movement.
if (activeDMs == nullptr)
{
return false;
}
if (reprap.Debug(moduleDda) && reprap.Debug(moduleMove)) // temp show the prepared DDA if debug enabled for both modules
{
DebugPrintAll("rem");
}
state = frozen; // must do this last so that the ISR doesn't start executing it before we have finished setting it up
return true;
}
#endif
// 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
bool DDA::IsDecelerationMove() const noexcept
{
return beforePrepare.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
&& beforePrepare.decelDistance > 0.98 * totalDistance // rounding error can only go so far
);
}
// 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
bool DDA::IsAccelerationMove() const noexcept
{
return beforePrepare.accelDistance == totalDistance // the simple case - is an acceleration-only move
|| (topSpeed < requestedSpeed // can't have been intended as deceleration-only if it reaches the requested speed
&& beforePrepare.accelDistance > 0.98 * totalDistance // rounding error can only go so far
);
}
#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(DDARing& ring, DDA *laDDA) noexcept
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->beforePrepare.targetNextSpeed > laDDA->requestedSpeed)
{
laDDA->beforePrepare.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()
&& laDDA->prev->beforePrepare.decelDistance > 0.0 // if the previous move has no deceleration phase then no point in adjusting it
)
{
const DDAState st = laDDA->prev->state;
// This is a deceleration-only move, and the previous one has a deceleration phase. We may have to adjust the previous move as well to get optimum behaviour.
if ( st == provisional
&& ( reprap.GetMove().GetJerkPolicy() != 0
|| ( laDDA->prev->flags.xyMoving == laDDA->flags.xyMoving
&& ( laDDA->prev->flags.isPrintingMove == laDDA->flags.isPrintingMove
|| (laDDA->prev->flags.isPrintingMove && laDDA->prev->requestedSpeed == laDDA->requestedSpeed) // special case to support coast-to-end
)
)
)
)
{
laDDA->MatchSpeeds();
const float maxStartSpeed = fastSqrtf(fsquare(laDDA->beforePrepare.targetNextSpeed) + (2 * laDDA->deceleration * laDDA->totalDistance));
laDDA->prev->beforePrepare.targetNextSpeed = min<float>(maxStartSpeed, laDDA->requestedSpeed);
// leave 'goingUp' true
}
else
{
// This move is a deceleration-only move but we can't adjust the previous one
if (st == frozen || st == executing)
{
laDDA->flags.hadLookaheadUnderrun = true;
}
const float maxReachableSpeed = fastSqrtf(fsquare(laDDA->startSpeed) + (2 * laDDA->deceleration * laDDA->totalDistance));
if (laDDA->beforePrepare.targetNextSpeed > maxReachableSpeed)
{
laDDA->beforePrepare.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 = fastSqrtf(fsquare(laDDA->startSpeed) + (2 * laDDA->acceleration * laDDA->totalDistance));
if (laDDA->beforePrepare.targetNextSpeed > maxReachableSpeed)
{
// Looks like this is an acceleration segment, so to ensure smooth acceleration we should reduce targetNextSpeed to endSpeed as well
laDDA->beforePrepare.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 = fastSqrtf(fsquare(laDDA->startSpeed) + (2 * laDDA->acceleration * laDDA->totalDistance));
if (maxEndSpeed < laDDA->beforePrepare.targetNextSpeed)
{
laDDA->beforePrepare.targetNextSpeed = maxEndSpeed;
}
}
if (goingUp)
{
// Still going up
laDDA = laDDA->prev;
++laDepth;
#if 0
if (reprap.Debug(moduleDda))
{
debugPrintf("Recursion start %u\n", laDepth);
}
#endif
}
else
{
// Either just stopped going up, or going down
if (laDDA->beforePrepare.targetNextSpeed < laDDA->endSpeed)
{
// This situation should not normally happen except by a small amount because of rounding error.
// Don't reduce the end speed of the current move, because that may make the move infeasible.
// Report a lookahead error if the change is too large to be accounted for by rounding error.
if (laDDA->beforePrepare.targetNextSpeed < laDDA->endSpeed * 0.99)
{
ring.RecordLookaheadError();
if (reprap.Debug(moduleMove))
{
debugPrintf("DDA.cpp(%d) tn=%f ", __LINE__, (double)laDDA->beforePrepare.targetNextSpeed);
laDDA->DebugPrint("la");
}
}
}
else
{
laDDA->endSpeed = laDDA->beforePrepare.targetNextSpeed;
}
LA_DEBUG;
laDDA->RecalculateMove(ring);
if (laDepth == 0)
{
#if 0
if (reprap.Debug(moduleDda))
{
debugPrintf("Complete, %f\n", laDDA->targetNextSpeed);
}
#endif
return;
}
laDDA = laDDA->next;
--laDepth;
}
}
}
// Try to push babystepping earlier in the move queue, returning the amount we pushed
// Caution! Thus is called with scheduling locked, therefore it must make no FreeRTOS calls, or call anything that makes them
//TODO this won't work for CoreXZ, rotary delta, Kappa, or SCARA with Z crosstalk
float DDA::AdvanceBabyStepping(DDARing& ring, size_t axis, float amount) noexcept
{
if (axis != Z_AXIS)
{
return 0.0; // only Z axis babystepping is supported at present
}
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->flags.xyMoving)
{
// Limit the babystepping Z speed to the lower of 0.1 times the original XYZ speed and 0.5 times the Z jerk
Platform& platform = reprap.GetPlatform();
const float maxBabySteppingAmount = cdda->totalDistance * min<float>(0.1, 0.5 * platform.GetInstantDv(Z_AXIS)/cdda->topSpeed);
babySteppingToDo = constrain<float>(amount, -maxBabySteppingAmount, maxBabySteppingAmount);
cdda->directionVector[Z_AXIS] += babySteppingToDo/cdda->totalDistance;
cdda->totalDistance *= cdda->NormaliseLinearMotion(platform.GetLinearAxes());
cdda->RecalculateMove(ring);
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 SUPPORT_LINEAR_DELTA
if (cdda->flags.isDeltaMovement)
{
for (size_t motor = 0; motor < reprap.GetGCodes().GetTotalAxes(); ++motor)
{
if (reprap.GetMove().GetKinematics().GetMotionType(motor) == MotionType::segmentFreeDelta)
{
cdda->endPoint[motor] += (int32_t)(babySteppingDone * reprap.GetPlatform().DriveStepsPerUnit(motor));
}
}
}
else
#endif
{
cdda->endPoint[Z_AXIS] += (int32_t)(babySteppingDone * reprap.GetPlatform().DriveStepsPerUnit(Z_AXIS));
}
// 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(DDARing& ring) noexcept
{
const float twoA = 2 * acceleration;
const float twoD = 2 * deceleration;
beforePrepare.accelDistance = (fsquare(requestedSpeed) - fsquare(startSpeed))/twoA;
beforePrepare.decelDistance = (fsquare(requestedSpeed) - fsquare(endSpeed))/twoD;
if (beforePrepare.accelDistance + beforePrepare.decelDistance < totalDistance)
{
// This move reaches its top speed
topSpeed = requestedSpeed;
}
else
{
// 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)/2d = dist
// So V^2(2a + 2d) = 2a.2d.dist + 2a.v^2 + 2d.u^2
// So V^2 = (2a.2d.dist + 2a.v^2 + 2d.u^2)/(2a + 2d)
const float vsquared = ((twoA * twoD * totalDistance) + (twoA * fsquare(endSpeed)) + twoD * fsquare(startSpeed))/(twoA + twoD);
if (vsquared > fsquare(startSpeed) && vsquared > fsquare(endSpeed))
{
// It's an accelerate-decelerate move. Calculate accelerate distance from: V^2 = u^2 + 2as.
beforePrepare.accelDistance = (vsquared - fsquare(startSpeed))/twoA;
beforePrepare.decelDistance = (vsquared - fsquare(endSpeed))/twoD;
topSpeed = fastSqrtf(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 or deceleration slightly.
if (startSpeed < endSpeed)
{
beforePrepare.accelDistance = totalDistance;
beforePrepare.decelDistance = 0.0;
topSpeed = endSpeed;
const float newAcceleration = (fsquare(endSpeed) - fsquare(startSpeed))/(2 * totalDistance);
if (newAcceleration > 1.02 * acceleration)
{
// The acceleration increase is greater than we expect from rounding error, so record an error
ring.RecordLookaheadError();
if (reprap.Debug(moduleMove))
{
debugPrintf("DDA.cpp(%d) na=%f", __LINE__, (double)newAcceleration);
DebugPrint("rm");
}
}
acceleration = newAcceleration;
}
else
{
beforePrepare.accelDistance = 0.0;
beforePrepare.decelDistance = totalDistance;
topSpeed = startSpeed;
const float newDeceleration = (fsquare(startSpeed) - fsquare(endSpeed))/(2 * totalDistance);
if (newDeceleration > 1.02 * deceleration)
{
// The deceleration increase is greater than we expect from rounding error, so record an error
ring.RecordLookaheadError();
if (reprap.Debug(moduleMove))
{
debugPrintf("DDA.cpp(%d) nd=%f", __LINE__, (double)newDeceleration);
DebugPrint("rm");
}
}
deceleration = newDeceleration;
}
}
}
if (flags.canPauseAfter && endSpeed != 0.0)
{
const Platform& p = reprap.GetPlatform();
for (size_t drive = 0; drive < MaxAxesPlusExtruders; ++drive)
{
if (endSpeed * fabsf(directionVector[drive]) > p.GetInstantDv(drive))
{
flags.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 = (topSpeed - startSpeed)/acceleration
+ (topSpeed - endSpeed)/deceleration
+ (totalDistance - beforePrepare.accelDistance - beforePrepare.decelDistance)/topSpeed;
clocksNeeded = (uint32_t)totalTime;
}
// 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.
void DDA::MatchSpeeds() noexcept
{
for (size_t drive = 0; drive < MaxAxesPlusExtruders; ++drive)
{
if (directionVector[drive] != 0.0 || next->directionVector[drive] != 0.0)
{
const float totalFraction = fabsf(directionVector[drive] - next->directionVector[drive]);
const float jerk = totalFraction * beforePrepare.targetNextSpeed;
const float allowedJerk = reprap.GetPlatform().GetInstantDv(drive);
if (jerk > allowedJerk)
{
beforePrepare.targetNextSpeed = allowedJerk/totalFraction;
}
}
}
}
// 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[MaxAxesPlusExtruders], volatile float endCoords[MaxAxesPlusExtruders]) noexcept
{
for (size_t drive = 0; drive < MaxAxesPlusExtruders; ++drive)
{
ep[drive] = endPoint[drive];
}
if (flags.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
const size_t numExtruders = reprap.GetGCodes().GetNumExtruders();
for (size_t extruder = 0; extruder < numExtruders; ++extruder)
{
endCoords[ExtruderToLogicalDrive(extruder)] += endCoordinates[ExtruderToLogicalDrive(extruder)];
}
return flags.endCoordinatesValid;
}
// This may be called from an ISR, e.g. via Kinematics::OnHomingSwitchTriggered
void DDA::SetPositions(const float move[MaxAxesPlusExtruders]) noexcept
{
(void)reprap.GetMove().CartesianToMotorSteps(move, endPoint, true);
const size_t numAxes = reprap.GetGCodes().GetVisibleAxes();
for (size_t axis = 0; axis < numAxes; ++axis)
{
endCoordinates[axis] = move[axis];
}
flags.endCoordinatesValid = true;
}
// Get a Cartesian end coordinate from this move
float DDA::GetEndCoordinate(size_t drive, bool disableMotorMapping) noexcept
pre(disableDeltaMapping || drive < MaxAxes)
{
if (disableMotorMapping)
{
return Move::MotorStepsToMovement(drive, endPoint[drive]);
}
else
{
const size_t visibleAxes = reprap.GetGCodes().GetVisibleAxes();
if (drive < visibleAxes && !flags.endCoordinatesValid)
{
reprap.GetMove().MotorStepsToCartesian(endPoint, visibleAxes, reprap.GetGCodes().GetTotalAxes(), endCoordinates);
flags.endCoordinatesValid = true;
}
return endCoordinates[drive];
}
}
// Set up unshapedSegments if we haven't done so already
void DDA::EnsureUnshapedSegments(const PrepParams& params) noexcept
{
if (unshapedSegments == nullptr)
{
unshapedSegments = AxisShaper::GetUnshapedSegments(*this, params);
}
}
// Prepare this DDA for execution.
// This must not be called with interrupts disabled, because it calls Platform::EnableDrive.
void DDA::Prepare(SimulationMode simMode) noexcept
{
flags.wasAccelOnlyMove = IsAccelerationMove(); // save this for the next move to look at
#if SUPPORT_LASER
if (topSpeed < requestedSpeed && reprap.GetGCodes().GetMachineType() == MachineType::laser)
{
// Scale back the laser power according to the actual speed
laserPwmOrIoBits.laserPwm = (laserPwmOrIoBits.laserPwm * topSpeed)/requestedSpeed;
}
#endif
// Prepare for movement
shapedSegments = unshapedSegments = nullptr;
PrepParams params; // the default constructor clears params.plan to 'no shaping'
if (flags.xyMoving)
{
reprap.GetMove().GetAxisShaper().PlanShaping(*this, params, flags.xyMoving); // this will set up shapedSegments if we are doing any shaping
}
else
{
params.SetFromDDA(*this);
params.unshaped.Finalise(topSpeed);
clocksNeeded = params.unshaped.TotalClocks();
}
// Copy the unshaped acceleration and deceleration back to the DDA because ManageLaserPower uses them
//TODO change ManageLaserPower to work on the shaped segments instead
acceleration = params.unshaped.acceleration;
deceleration = params.unshaped.deceleration;
if (simMode < SimulationMode::normal)
{
#if SUPPORT_LINEAR_DELTA
if (flags.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
# if MS_USE_FPU
// Nothing needed here, use directionVector[Z_AXIS] directly
# else
afterPrepare.cKc = lrintf(directionVector[Z_AXIS] * MoveSegment::KdirectionVector);
# endif
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()));
# if SUPPORT_CAN_EXPANSION
params.finalX = GetEndCoordinate(X_AXIS, false);
params.finalY = GetEndCoordinate(Y_AXIS, false);
params.zMovement = GetEndCoordinate(Z_AXIS, false) - prev->GetEndCoordinate(Z_AXIS, false);
# endif
}
#endif
activeDMs = completedDMs = nullptr;
#if SUPPORT_CAN_EXPANSION
CanMotion::StartMovement();
#endif
// Handle all drivers
Platform& platform = reprap.GetPlatform();
if (flags.isLeadscrewAdjustmentMove)
{
platform.EnableDrivers(Z_AXIS, false); // ensure all Z motors are enabled
}
AxesBitmap additionalAxisMotorsToEnable, axisMotorsEnabled;
#if SUPPORT_CAN_EXPANSION
afterPrepare.drivesMoving.Clear();
#endif
for (size_t drive = 0; drive < MaxAxesPlusExtruders; ++drive)
{
if (flags.isLeadscrewAdjustmentMove)
{
#if SUPPORT_CAN_EXPANSION
afterPrepare.drivesMoving.SetBit(Z_AXIS);
#endif
// For a leadscrew adjustment move, the first N elements of the direction vector are the adjustments to the N Z motors
const AxisDriversConfig& config = platform.GetAxisDriversConfig(Z_AXIS);
if (drive < config.numDrivers)
{
const int32_t delta = lrintf(directionVector[drive] * totalDistance * platform.DriveStepsPerUnit(Z_AXIS));
const DriverId driver = config.driverNumbers[drive];
if (delta != 0)
{
#if SUPPORT_CAN_EXPANSION
if (driver.IsRemote())
{
CanMotion::AddMovement(params, driver, delta, false);
}
else
#endif
{
EnsureUnshapedSegments(params);
DriveMovement* const pdm = DriveMovement::Allocate(driver.localDriver + MaxAxesPlusExtruders, DMState::idle);
pdm->direction = (delta >= 0);
pdm->totalSteps = labs(delta);
if (pdm->PrepareCartesianAxis(*this, params))
{
pdm->directionChanged = false;
// Check for sensible values, print them if they look dubious
if (reprap.Debug(moduleDda) && pdm->totalSteps > 1000000)
{
DebugPrintAll("pr_err1");
}
InsertDM(pdm);
}
else
{
pdm->state = DMState::idle;
pdm->nextDM = completedDMs;
completedDMs = pdm;
}
}
}
}
}
#if SUPPORT_LINEAR_DELTA
else if (flags.isDeltaMovement && reprap.GetMove().GetKinematics().GetMotionType(drive) == MotionType::segmentFreeDelta)
{
// On a delta we need to move all towers even if some of them have no net movement
platform.EnableDrivers(drive, false);
if (shapedSegments == nullptr)
{
EnsureUnshapedSegments(params);
}
const int32_t delta = endPoint[drive] - prev->endPoint[drive];
if (platform.GetDriversBitmap(drive) != 0) // if any of the drives is local
{
DriveMovement* const pdm = DriveMovement::Allocate(drive, DMState::idle);
pdm->direction = (delta >= 0);
pdm->totalSteps = labs(delta); // this is net steps for now
if (pdm->PrepareDeltaAxis(*this, params))
{
pdm->directionChanged = false;
// Check for sensible values, print them if they look dubious
if (reprap.Debug(moduleDda) && pdm->totalSteps > 1000000)
{
DebugPrintAll("pr_err2");
}
InsertDM(pdm);
}
else
{
pdm->state = DMState::idle;
pdm->nextDM = completedDMs;
completedDMs = pdm;
}
}
# if SUPPORT_CAN_EXPANSION
afterPrepare.drivesMoving.SetBit(drive);
const AxisDriversConfig& config = platform.GetAxisDriversConfig(drive);
for (size_t i = 0; i < config.numDrivers; ++i)
{
const DriverId driver = config.driverNumbers[i];
if (driver.IsRemote())
{
CanMotion::AddMovement(params, driver, delta, false);
}
}
# endif
axisMotorsEnabled.SetBit(drive);
}
#endif
else if (drive < reprap.GetGCodes().GetTotalAxes())
{
// It's a linear axis
int32_t delta = endPoint[drive] - prev->endPoint[drive];
if (delta != 0)
{
platform.EnableDrivers(drive, false);
if (shapedSegments == nullptr)
{
EnsureUnshapedSegments(params);
}
if (flags.continuousRotationShortcut && reprap.GetMove().GetKinematics().IsContinuousRotationAxis(drive))
{
// This is a continuous rotation axis, so we may have adjusted the move to cross the 180 degrees position
const int32_t stepsPerRotation = lrintf(360.0 * platform.DriveStepsPerUnit(drive));
if (delta > stepsPerRotation/2)
{
delta -= stepsPerRotation;
}
else if (delta < -stepsPerRotation/2)
{
delta += stepsPerRotation;
}
}
if ( platform.GetDriversBitmap(drive) != 0 // if any of the drives is local
#if SUPPORT_CAN_EXPANSION
|| flags.checkEndstops // if checking endstops, create a DM even if there are no local drives involved
#endif
)
{
DriveMovement* const pdm = DriveMovement::Allocate(drive, DMState::idle);
pdm->direction = (delta >= 0);
pdm->totalSteps = labs(delta);
if (pdm->PrepareCartesianAxis(*this, params))
{
pdm->directionChanged = false;
// Check for sensible values, print them if they look dubious
if (reprap.Debug(moduleDda) && pdm->totalSteps > 1000000)
{
DebugPrintAll("pr_err3");
}
InsertDM(pdm);
}
else
{
pdm->state = DMState::idle;
pdm->nextDM = completedDMs;
completedDMs = pdm;
}
}
#if SUPPORT_CAN_EXPANSION
afterPrepare.drivesMoving.SetBit(drive);
const AxisDriversConfig& config = platform.GetAxisDriversConfig(drive);
for (size_t i = 0; i < config.numDrivers; ++i)
{
const DriverId driver = config.driverNumbers[i];
if (driver.IsRemote())
{
CanMotion::AddMovement(params, driver, delta, false);
}
}
#endif
axisMotorsEnabled.SetBit(drive);
additionalAxisMotorsToEnable |= reprap.GetMove().GetKinematics().GetConnectedAxes(drive);
}
}
else
{
// It's an extruder drive
if (directionVector[drive] != 0.0)
{
// Currently, we don't apply input shaping to extruders
platform.EnableDrivers(drive, false);
const size_t extruder = LogicalDriveToExtruder(drive);
#if SUPPORT_NONLINEAR_EXTRUSION
// Add the nonlinear extrusion correction to totalExtrusion.
// If we are given a stupidly short move to execute then clocksNeeded can be zero, which leads to NaNs in this code; so we need to guard against that.
if (flags.isPrintingMove && clocksNeeded != 0)
{
const NonlinearExtrusion& nl = platform.GetExtrusionCoefficients(extruder);
float& dv = directionVector[drive];
const float averageExtrusionSpeed = (totalDistance * dv)/clocksNeeded;
const float factor = 1.0 + min<float>((averageExtrusionSpeed * nl.A) + (averageExtrusionSpeed * averageExtrusionSpeed * nl.B), nl.limit);
dv *= factor;
}
#endif
#if SUPPORT_CAN_EXPANSION
afterPrepare.drivesMoving.SetBit(drive);
const DriverId driver = platform.GetExtruderDriver(extruder);
if (driver.IsRemote())
{
// This calculation isn't quite right when we use PA and fractional steps accumulate. I will fix it when I change the CAN protocol.
// The MovementLinear message requires the raw step count not adjusted for PA to be passed. The remote board adds the PA.
ExtruderShaper& shaper = reprap.GetMove().GetExtruderShaper(LogicalDriveToExtruder(drive));
float netMovement = (totalDistance * directionVector[drive]) + shaper.GetExtrusionPending();
const float stepsPerMm = platform.DriveStepsPerUnit(drive);
const int32_t rawSteps = lrintf(netMovement * stepsPerMm); // we round here instead of truncating to match the old code
if (flags.usePressureAdvance)
{
netMovement += (endSpeed - startSpeed) * directionVector[drive] * shaper.GetKclocks();
}
if (rawSteps != 0)
{
CanMotion::AddMovement(params, driver, rawSteps, flags.usePressureAdvance);
const int32_t netSteps = (flags.usePressureAdvance)
? lrintf(netMovement * stepsPerMm) // work out how many steps the remote extruder will take
: rawSteps;
netMovement -= (float)netSteps/stepsPerMm;
}
shaper.SetExtrusionPending(netMovement);
}
else
#endif
{
EnsureUnshapedSegments(params);
DriveMovement* const pdm = DriveMovement::Allocate(drive, DMState::idle);
pdm->direction = (directionVector[drive] >= 0);
if (pdm->PrepareExtruder(*this, params))
{
pdm->directionChanged = false;
if (reprap.Debug(moduleDda) && pdm->totalSteps > 1000000)
{
DebugPrintAll("pr_err4");
}
InsertDM(pdm);
}
else
{
pdm->state = DMState::idle;
pdm->nextDM = completedDMs;
completedDMs = pdm;
}
}
}
}
}
// On CoreXY and similar architectures, we also need to enable the motors controlling any connected axes
additionalAxisMotorsToEnable &= ~axisMotorsEnabled;
while (additionalAxisMotorsToEnable.IsNonEmpty())
{
const size_t drive = additionalAxisMotorsToEnable.LowestSetBit();
additionalAxisMotorsToEnable.ClearBit(drive);
platform.EnableDrivers(drive, false);
}
const DDAState st = prev->state;
afterPrepare.moveStartTime = (st == DDAState::executing || st == DDAState::frozen)
? prev->afterPrepare.moveStartTime + prev->clocksNeeded // this move will follow the previous one, so calculate the start time assuming no more hiccups
: StepTimer::GetTimerTicks() + AbsoluteMinimumPreparedTime; // else this move is the first so start it after a short delay
if (flags.checkEndstops)
{
// Before we send movement commands to remote drives, if any endstop switches we are monitoring are already set, make sure we don't start the motors concerned.
// This is especially important when using CAN-connected motors or endstops, because we rely on receiving "endstop changed" messages.
// Moves that check endstops are always run as isolated moves, so there can be no move in progress and the endstops must already be primed.
platform.EnableAllSteppingDrivers();
CheckEndstops(platform); // this may modify pending CAN moves, and may set status 'completed'
}
#if SUPPORT_CAN_EXPANSION
const uint32_t canClocksNeeded = CanMotion::FinishMovement(afterPrepare.moveStartTime, simMode != SimulationMode::off, flags.checkEndstops);
if (canClocksNeeded > clocksNeeded)
{
// Due to rounding error in the calculations, we quite often calculate the CAN move as being longer than our previously-calculated value, normally by just one clock.
// Extend our move time in this case so that the expansion boards don't need to catch up.
clocksNeeded = canClocksNeeded;
}
#endif
if (reprap.Debug(moduleMove) && (reprap.Debug(moduleDda) || params.shapingPlan.debugPrint)) // show the prepared DDA if debug enabled for both modules
{
DebugPrintAll("pr");
}
#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
}
if (state != completed)
{
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[]) noexcept
{
// Generate a vector length that is guaranteed to exceed the size of the box
float magnitude = 0.0;
for (size_t d = 0; d < MaxAxesPlusExtruders; d++)
{
magnitude += box[d];
}
// Now reduce the length until every axis fits
for (size_t d = 0; d < MaxAxesPlusExtruders; d++)
{
if (magnitude * v[d] > box[d])
{
magnitude = box[d]/v[d];
}
}
return magnitude;
}
// Get the magnitude measured over all axes and extruders
/*static*/ float DDA::Magnitude(const float v[]) noexcept
{
float magnitudeSquared = 0.0;
for (size_t d = 0; d < MaxAxesPlusExtruders; d++)
{
magnitudeSquared += fsquare(v[d]);
}
return fastSqrtf(magnitudeSquared);
}
// Normalise a vector with dim1 dimensions to unit length over the specified axes, and also return its previous magnitude in dim2 dimensions
/*static*/ float DDA::Normalise(float v[], AxesBitmap unitLengthAxes) noexcept
{
const float magnitude = Magnitude(v, unitLengthAxes);
if (magnitude <= 0.0)
{
return 0.0;
}
Scale(v, 1.0/magnitude);
return magnitude;
}
// Normalise a vector to unit length over all axes
/*static*/ float DDA::Normalise(float v[]) noexcept
{
const float magnitude = Magnitude(v);
if (magnitude <= 0.0)
{
return 0.0;
}
Scale(v, 1.0/magnitude);
return magnitude;
}
// Make the direction vector unit-normal in the linear axes, taking account of axis mapping, and return the previous magnitude
float DDA::NormaliseLinearMotion(AxesBitmap linearAxes) noexcept
{
// 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 normally be equal).
float xMagSquared = 0.0, yMagSquared = 0.0, magSquared = 0.0;
unsigned int numXaxes = 0, numYaxes = 0;
const AxesBitmap xAxes = Tool::GetXAxes(tool);
const AxesBitmap yAxes = Tool::GetYAxes(tool);
const float * const dv = directionVector;
linearAxes.Iterate([&xMagSquared, &yMagSquared, &magSquared, &numXaxes, &numYaxes, xAxes, yAxes, dv](unsigned int axis, unsigned int count)
{
const float dv2 = fsquare(dv[axis]);
if (xAxes.IsBitSet(axis))
{
xMagSquared += dv2;
++numXaxes;
}
else if (yAxes.IsBitSet(axis))
{
yMagSquared += dv2;
++numYaxes;
}
else
{
magSquared += dv2;
}
}
);
if (numXaxes > 1)
{
xMagSquared /= numXaxes;
}
if (numYaxes > 1)
{
yMagSquared /= numYaxes;
}
const float magnitude = fastSqrtf(xMagSquared + yMagSquared + magSquared);
if (magnitude <= 0.0)
{
return 0.0;
}
// Now normalise it
Scale(directionVector, 1.0/magnitude);
return magnitude;
}
// Return the magnitude of a vector over the specified orthogonal axes
/*static*/ float DDA::Magnitude(const float v[], AxesBitmap axes) noexcept
{
float magnitude = 0.0;
axes.Iterate([&magnitude, v](unsigned int axis, unsigned int count) { magnitude += fsquare(v[axis]); });
return fastSqrtf(magnitude);
}
// Multiply a vector by a scalar
/*static*/ void DDA::Scale(float v[], float scale) noexcept
{
for (size_t d = 0; d < MaxAxesPlusExtruders; d++)
{
v[d] *= scale;
}
}
// Move a vector into the positive hyperquadrant
/*static*/ void DDA::Absolute(float v[], size_t dimensions) noexcept
{
for (size_t d = 0; d < dimensions; d++)
{
v[d] = fabsf(v[d]);
}
}
// Check the endstops, given that we know that this move checks endstops.
// Either this move is currently executing (DDARing.currentDDA == this) and the state is 'executing', or we have almost finished preparing it and the state is 'provisional'.
void DDA::CheckEndstops(Platform& platform) noexcept
{
for (;;)
{
const EndstopHitDetails hitDetails = platform.GetEndstops().CheckEndstops();
switch (hitDetails.GetAction())
{
case EndstopHitAction::stopAll:
MoveAborted(); // set the state to completed and recalculate the endpoints
#if SUPPORT_CAN_EXPANSION
CanMotion::StopAll(*this);
#endif
if (hitDetails.isZProbe)
{
reprap.GetGCodes().MoveStoppedByZProbe();
}
else if (hitDetails.setAxisLow)
{
reprap.GetMove().GetKinematics().OnHomingSwitchTriggered(hitDetails.axis, false, platform.GetDriveStepsPerUnit(), *this);
reprap.GetGCodes().SetAxisIsHomed(hitDetails.axis);
}
else if (hitDetails.setAxisHigh)
{
reprap.GetMove().GetKinematics().OnHomingSwitchTriggered(hitDetails.axis, true, platform.GetDriveStepsPerUnit(), *this);
reprap.GetGCodes().SetAxisIsHomed(hitDetails.axis);
}
return;
case EndstopHitAction::stopAxis:
StopDrive(hitDetails.axis); // we must stop the drive before we mess with its coordinates
#if SUPPORT_CAN_EXPANSION
CanMotion::StopAxis(*this, hitDetails.axis);
#endif
if (hitDetails.setAxisLow)
{
reprap.GetMove().GetKinematics().OnHomingSwitchTriggered(hitDetails.axis, false, platform.GetDriveStepsPerUnit(), *this);
reprap.GetGCodes().SetAxisIsHomed(hitDetails.axis);
}
else if (hitDetails.setAxisHigh)
{
reprap.GetMove().GetKinematics().OnHomingSwitchTriggered(hitDetails.axis, true, platform.GetDriveStepsPerUnit(), *this);
reprap.GetGCodes().SetAxisIsHomed(hitDetails.axis);
}
break;
case EndstopHitAction::stopDriver:
#if SUPPORT_CAN_EXPANSION
if (hitDetails.driver.IsRemote())
{
CanMotion::StopDriver(*this, hitDetails.axis, hitDetails.driver);
}
else
#endif
{
platform.DisableSteppingDriver(hitDetails.driver.localDriver);
}
if (hitDetails.setAxisLow)
{
reprap.GetMove().GetKinematics().OnHomingSwitchTriggered(hitDetails.axis, false, platform.GetDriveStepsPerUnit(), *this);
reprap.GetGCodes().SetAxisIsHomed(hitDetails.axis);
}
else if (hitDetails.setAxisHigh)
{
reprap.GetMove().GetKinematics().OnHomingSwitchTriggered(hitDetails.axis, true, platform.GetDriveStepsPerUnit(), *this);
reprap.GetGCodes().SetAxisIsHomed(hitDetails.axis);
}
break;
default:
return;
}
}
}
// Start executing this move. Must be called with interrupts disabled or basepri >= set interrupt priority, to avoid a race condition.
void DDA::Start(Platform& p, uint32_t tim) noexcept
pre(state == frozen)
{
if ((int32_t)(tim - afterPrepare.moveStartTime ) > 25)
{
afterPrepare.moveStartTime = tim; // this move is late starting, so record the actual start time
}
state = executing;
#if DDA_LOG_PROBE_CHANGES
if ((endStopsToCheck & LogProbeChanges) != 0)
{
numLoggedProbePositions = 0;
probeTriggered = false;
}
#endif
if (activeDMs != nullptr)
{
if (!flags.checkEndstops)
{
p.EnableAllSteppingDrivers(); // make sure that all drivers are enabled
}
const size_t numTotalAxes = reprap.GetGCodes().GetTotalAxes();
unsigned int extrusions = 0, retractions = 0; // bitmaps of extruding and retracting drives
float extrusionFraction = 0.0;
for (const DriveMovement* pdm = activeDMs; pdm != nullptr; pdm = pdm->nextDM)
{
const size_t drive = pdm->drive;
p.SetDirection(drive, pdm->direction);
if (drive >= numTotalAxes && drive < MaxAxesPlusExtruders) // if it's an extruder
{
const size_t extruder = LogicalDriveToExtruder(drive);
if (pdm->direction == FORWARDS)
{
extrusions |= (1u << extruder);
extrusionFraction += directionVector[drive];
}
else
{
retractions |= (1u << extruder);
}
}
}
bool extruding = false;
if ((extrusions | retractions) != 0)
{
// Check for trying to extrude or retract when the hot end temperature is too low
const unsigned int prohibitedMovements = reprap.GetProhibitedExtruderMovements(extrusions, retractions);
for (DriveMovement **dmpp = &activeDMs; *dmpp != nullptr; )
{
DriveMovement* const dm = *dmpp;
const size_t drive = dm->drive;
if (drive >= numTotalAxes && drive < MaxAxesPlusExtruders)
{
if ((prohibitedMovements & (1u << LogicalDriveToExtruder(drive))) != 0)
{
*dmpp = dm->nextDM;
dm->nextDM = completedDMs;
completedDMs = dm;
}
else
{
extruding = true;
dmpp = &(dm->nextDM);
}
}
else
{
dmpp = &(dm->nextDM);
}
}
}
if (extruding)
{
p.ExtrudeOn();
if (tool != nullptr)
{
// Pass the extrusion speed averaged over the whole move in mm/sec
tool->ApplyFeedForward((extrusionFraction * totalDistance * (float)StepClockRate)/(float)clocksNeeded);
}
}
else
{
p.ExtrudeOff();
if (tool != nullptr)
{
tool->StopFeedForward();
}
}
}
}
#ifdef DUET3_MB6XD
volatile uint32_t DDA::lastStepHighTime = 0;
#else
volatile uint32_t DDA::lastStepLowTime = 0;
#endif
volatile uint32_t DDA::lastDirChangeTime = 0;
#if 0 // debug only
uint32_t DDA::stepsRequested[NumDirectDrivers];
uint32_t DDA::stepsDone[NumDirectDrivers];
#endif
#if 0 //debug
uint32_t lastDelay;
uint32_t maxDelay;
uint32_t maxDelayIncrease;
#endif
// Generate the step pulses of internal drivers used by this DDA
// Sets the status to 'completed' if the move is complete and the next move should be started
void DDA::StepDrivers(Platform& p, uint32_t now) noexcept
{
// 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 (flags.checkEndstops) // if any homing switches or the Z probe is enabled in this move
{
CheckEndstops(p); // call out to a separate function because this may help cache usage in the more common and time-critical 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
{
return;
}
}
uint32_t driversStepping = 0;
DriveMovement* dm = activeDMs;
const uint32_t elapsedTime = (now - afterPrepare.moveStartTime) + StepTimer::MinInterruptInterval;
#if 0 //DEBUG
if (dm != nullptr && elapsedTime >= dm->nextStepTime)
{
const uint32_t delay = elapsedTime - dm->nextStepTime;
if (dm->nextStep != 1)
{
if (delay > maxDelay) { maxDelay = delay; }
if (delay > lastDelay && (delay - lastDelay) > maxDelayIncrease) { maxDelayIncrease = delay - lastDelay; }
}
lastDelay = delay;
}
#endif //END DEBUG
while (dm != nullptr && elapsedTime >= dm->nextStepTime) // if the next step is due
{
driversStepping |= p.GetDriversBitmap(dm->drive);
#if 0 // debug only
++stepsDone[dm->drive];
#endif
dm = dm->nextDM;
}
driversStepping &= p.GetSteppingEnabledDrivers();
#ifdef DUET3_MB6XD
if (driversStepping != 0)
{
// Wait until step low and direction setup time have elapsed
const uint32_t locLastStepPulseTime = lastStepHighTime;
const uint32_t locLastDirChangeTime = lastDirChangeTime;
while (now - locLastStepPulseTime < p.GetSlowDriverStepPeriodClocks() || now - locLastDirChangeTime < p.GetSlowDriverDirSetupClocks())
{
now = StepTimer::GetTimerTicks();
}
StepPins::StepDriversLow(StepPins::AllDriversBitmap & (~driversStepping)); // disable the step pins of the drivers we don't want to step
StepPins::StepDriversHigh(driversStepping); // set up the drivers that we do want to step
// Trigger the TC so that it generates a step pulse
STEP_GATE_TC->TC_CHANNEL[STEP_GATE_TC_CHAN].TC_CCR = TC_CCR_SWTRG;
lastStepHighTime = StepTimer::GetTimerTicks();
// Calculate the next step times
for (DriveMovement *dm2 = activeDMs; dm2 != dm; dm2 = dm2->nextDM)
{
(void)dm2->CalcNextStepTime(*this); // calculate next step times
}
}
#else
# if SUPPORT_SLOW_DRIVERS // if supporting slow drivers
if ((driversStepping & p.GetSlowDriversBitmap()) != 0) // if using some slow drivers
{
// Wait until step low and direction setup time have elapsed
uint32_t lastStepPulseTime = lastStepLowTime;
while (now - lastStepPulseTime < p.GetSlowDriverStepLowClocks() || now - lastDirChangeTime < p.GetSlowDriverDirSetupClocks())
{
now = StepTimer::GetTimerTicks();
}
StepPins::StepDriversHigh(driversStepping); // step drivers high
lastStepPulseTime = StepTimer::GetTimerTicks();
for (DriveMovement *dm2 = activeDMs; dm2 != dm; dm2 = dm2->nextDM)
{
(void)dm2->CalcNextStepTime(*this); // calculate next step times
}
while (StepTimer::GetTimerTicks() - lastStepPulseTime < p.GetSlowDriverStepHighClocks()) {}
StepPins::StepDriversLow(driversStepping); // step drivers low
lastStepLowTime = StepTimer::GetTimerTicks();
}
else
# endif
{
StepPins::StepDriversHigh(driversStepping); // step drivers high
# if SAME70
__DSB(); // without this the step pulse can be far too short
# endif
for (DriveMovement *dm2 = activeDMs; dm2 != dm; dm2 = dm2->nextDM)
{
(void)dm2->CalcNextStepTime(*this); // calculate next step times
}
StepPins::StepDriversLow(driversStepping); // step drivers low
}
#endif
// Remove those drives from the list, update the direction pins where necessary, and re-insert them so as to keep the list in step-time order.
DriveMovement *dmToInsert = activeDMs; // head of the chain we need to re-insert
activeDMs = dm; // remove the chain from the list
while (dmToInsert != dm) // note that both of these may be nullptr
{
DriveMovement * const nextToInsert = dmToInsert->nextDM;
if (dmToInsert->state >= DMState::firstMotionState)
{
InsertDM(dmToInsert);
if (dmToInsert->directionChanged)
{
dmToInsert->directionChanged = false;
p.SetDirection(dmToInsert->drive, dmToInsert->direction);
}
}
else
{
dmToInsert->nextDM = completedDMs;
completedDMs = dmToInsert;
}
dmToInsert = nextToInsert;
}
// If there are no more steps to do and the time for the move has nearly expired, flag the move as complete
if (activeDMs == nullptr)
{
// We set a move as current up to MovementStartDelayClocks (about 10ms) before it is due to start.
// We need to make sure it has really started, or we can get arithmetic wrap round in the case that there are no local drivers stepping.
const uint32_t timeRunning = StepTimer::GetTimerTicks() - afterPrepare.moveStartTime;
if ( timeRunning + WakeupTime >= clocksNeeded // if it looks like the move has almost finished
&& timeRunning < 0 - AbsoluteMinimumPreparedTime // and it really has started
)
{
state = completed;
}
}
}
// Simulate stepping the drivers, for debugging.
// This is basically a copy of DDA::SetDrivers except that instead of being called from the timer ISR and generating steps,
// it is called from the Move task and outputs info on the step timings. It ignores endstops.
void DDA::SimulateSteppingDrivers(Platform& p) noexcept
{
static uint32_t lastStepTime;
static bool checkTiming = false;
DriveMovement* dm = activeDMs;
if (dm != nullptr)
{
const uint32_t dueTime = dm->nextStepTime;
while (dm != nullptr && dueTime >= dm->nextStepTime) // if the next step is due
{
const uint32_t timeDiff = dm->nextStepTime - lastStepTime;
const bool badTiming = checkTiming && (timeDiff < 10 || timeDiff > 100000000);
debugPrintf("%10" PRIu32 " D%u %c%s", dm->nextStepTime, dm->drive, (dm->direction) ? 'F' : 'B', (badTiming) ? " *\n" : "\n");
dm = dm->nextDM;
}
lastStepTime = dueTime;
checkTiming = true;
for (DriveMovement *dm2 = activeDMs; dm2 != dm; dm2 = dm2->nextDM)
{
(void)dm2->CalcNextStepTime(*this); // calculate next step times
}
// Remove those drives from the list, update the direction pins where necessary, and re-insert them so as to keep the list in step-time order.
DriveMovement *dmToInsert = activeDMs; // head of the chain we need to re-insert
activeDMs = dm; // remove the chain from the list
while (dmToInsert != dm) // note that both of these may be nullptr
{
DriveMovement * const nextToInsert = dmToInsert->nextDM;
if (dmToInsert->state >= DMState::firstMotionState)
{
InsertDM(dmToInsert);
if (dmToInsert->directionChanged)
{
dmToInsert->directionChanged = false;
}
}
else
{
dmToInsert->nextDM = completedDMs;
completedDMs = dmToInsert;
}
dmToInsert = nextToInsert;
}
}
// If there are no more steps to do and the time for the move has nearly expired, flag the move as complete
if (activeDMs == nullptr)
{
checkTiming = false; // don't check the timing of the first step in the next move
state = completed;
}
}
// 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) noexcept
{
DriveMovement* const pdm = FindActiveDM(drive);
if (pdm != nullptr)
{
if (drive < reprap.GetGCodes().GetTotalAxes())
{
endPoint[drive] -= pdm->GetNetStepsLeft();
flags.endCoordinatesValid = false; // the XYZ position is no longer valid
}
DeactivateDM(drive);
#if !SUPPORT_CAN_EXPANSION
if (activeDMs == nullptr)
{
state = completed;
}
#endif
}
#if SUPPORT_CAN_EXPANSION
afterPrepare.drivesMoving.ClearBit(drive);
if (afterPrepare.drivesMoving.IsEmpty())
{
state = completed;
}
#endif
}
// This is called when we abort a move because we have hit an endstop.
// It stops 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() noexcept
{
if (state == executing)
{
for (size_t drive = 0; drive < MaxAxesPlusExtruders; ++drive)
{
StopDrive(drive);
}
}
state = completed;
}
// Return the proportion of 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 noexcept
{
// Get the proportion of extrusion already done at the start of this segment
float proportionDoneSoFar = (filePos != noFilePosition && filePos == prev->filePos)
? prev->proportionDone
: 0.0;
if (moveWasAborted)
{
// The move was aborted, so subtract how much was done
if (proportionDone > proportionDoneSoFar)
{
int32_t taken = 0, left = 0;
for (size_t extruder = 0; extruder < reprap.GetGCodes().GetNumExtruders(); ++extruder)
{
const DriveMovement* const pdm = FindDM(ExtruderToLogicalDrive(extruder));
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
{
proportionDoneSoFar += (((proportionDone - proportionDoneSoFar) * taken) + (total/2)) / total;
}
}
}
return proportionDoneSoFar;
}
bool DDA::HasStepError() const noexcept
{
#if 0 //debug
if (hadHiccup)
{
return true; // temporary for debugging DAA
}
#endif
for (size_t drive = 0; drive < NumDirectDrivers; ++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() noexcept
{
ReleaseDMs();
state = empty;
return flags.hadLookaheadUnderrun;
}
void DDA::LimitSpeedAndAcceleration(float maxSpeed, float maxAcceleration) noexcept
{
if (requestedSpeed > maxSpeed)
{
requestedSpeed = maxSpeed;
}
if (acceleration > maxAcceleration)
{
acceleration = maxAcceleration;
}
if (deceleration > maxAcceleration)
{
deceleration = maxAcceleration;
}
}
// Update the movement accumulators to account for the move that has just finished.
// Only drives that correspond to extruders need to be updated, but it doesn't matter if we update them all.
// This is called with interrupts disabled.
void DDA::UpdateMovementAccumulators(volatile int32_t *accumulators) const noexcept
{
// To identify all the extruder movement, we can either loop through extruder numbers and search both DM lists for a DM for that drive,
// or we can iterate through both DM lists, checking whether the drive it is for is an extruder.
#if 1
// Loop through DMs, checking whether each associated drive is an extruder and updating the movement accumulator if so.
// We could omit the check that the drive is an accumulator so that we update all accumulators, but we would still need to check for leadscrew adjustment moves.
const size_t numExtruders = reprap.GetGCodes().GetNumExtruders();
if (numExtruders != 0)
{
const unsigned int firstExtruderDrive = ExtruderToLogicalDrive(numExtruders - 1);
for (const DriveMovement* dm = activeDMs; dm != nullptr; )
{
const uint8_t drv = dm->drive;
if ( drv >= firstExtruderDrive // check that it's an extruder (to save the call to GetStepsTaken)
&& drv < MaxAxesPlusExtruders // check that it's not a direct leadscrew move
)
{
accumulators[drv] += dm->GetNetStepsTaken();
}
dm = dm->nextDM;
}
for (const DriveMovement* dm = completedDMs; dm != nullptr; )
{
const uint8_t drv = dm->drive;
if ( drv >= firstExtruderDrive // check that it's an extruder (to save the call to GetStepsTaken)
&& drv < MaxAxesPlusExtruders // check that it's not a direct leadscrew move
)
{
accumulators[drv] += dm->GetNetStepsTaken();
}
dm = dm->nextDM;
}
}
#else
// Loop through extruders
const size_t numExtruders = reprap.GetGCodes().GetNumExtruders();
for (size_t extruder = 0; extruder < numExtruders; ++extruder)
{
const size_t drv = ExtruderToLogicalDrive(extruder);
accumulators[drv] += GetStepsTaken(drv);
}
#endif
}
#if SUPPORT_LASER
// Manage the laser power. Return the number of ticks until we should be called again, or 0 to be called at the start of the next move.
uint32_t DDA::ManageLaserPower() const noexcept
{
Platform& platform = reprap.GetPlatform();
if (!flags.controlLaser || laserPwmOrIoBits.laserPwm == 0)
{
platform.SetLaserPwm(0);
return 0;
}
const uint32_t clocksMoving = StepTimer::GetTimerTicks() - afterPrepare.moveStartTime;
if (clocksMoving >= clocksNeeded) // this also covers the case of now < startTime
{
// Something has gone wrong with the timing. Set zero laser power, but try again soon.
platform.SetLaserPwm(0);
return LaserPwmIntervalMillis;
}
const float accelSpeed = startSpeed + acceleration * clocksMoving;
if (accelSpeed < topSpeed)
{
// Acceleration phase
const Pwm_t pwm = (Pwm_t)((accelSpeed/topSpeed) * laserPwmOrIoBits.laserPwm);
platform.SetLaserPwm(pwm);
return LaserPwmIntervalMillis;
}
const uint32_t clocksLeft = clocksNeeded - clocksMoving;
const float decelSpeed = endSpeed + deceleration * clocksLeft;
if (decelSpeed < topSpeed)
{
// Deceleration phase
const Pwm_t pwm = (Pwm_t)((decelSpeed/topSpeed) * laserPwmOrIoBits.laserPwm);
platform.SetLaserPwm(pwm);
return LaserPwmIntervalMillis;
}
// We must be in the constant speed phase
platform.SetLaserPwm(laserPwmOrIoBits.laserPwm);
const uint32_t decelClocks = (topSpeed - endSpeed)/deceleration;
if (clocksLeft <= decelClocks)
{
return LaserPwmIntervalMillis;
}
const uint32_t clocksToDecel = clocksLeft - decelClocks;
return lrintf((float)clocksToDecel * StepClocksToMillis) + LaserPwmIntervalMillis;
}
#endif
// End
|