diff options
Diffstat (limited to 'ArcWelderInverseProcessor/marlin_1.cpp')
| -rw-r--r-- | ArcWelderInverseProcessor/marlin_1.cpp | 325 |
1 files changed, 325 insertions, 0 deletions
diff --git a/ArcWelderInverseProcessor/marlin_1.cpp b/ArcWelderInverseProcessor/marlin_1.cpp new file mode 100644 index 0000000..0cca4e9 --- /dev/null +++ b/ArcWelderInverseProcessor/marlin_1.cpp @@ -0,0 +1,325 @@ +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Arc Welder: Marlin 1 arc interpolation simulator. Please see the copyright notices in the function definitions +// starting with plan_arc_ for the original license. +// +// Converts G2/G3(arc) commands back to G0/G1 commands. Intended to test firmware changes to improve arc support. +// This reduces file size and the number of gcodes per second. +// +// Built using the 'Arc Welder: Anti Stutter' library +// +// Copyright(C) 2021 - Brad Hochgesang +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// This program is free software : you can redistribute it and/or modify +// it under the terms of the GNU Affero General Public License as published +// by the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.See the +// GNU Affero General Public License for more details. +// +// +// You can contact the author at the following email address: +// FormerLurker@pm.me +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + + +#include "marlin_1.h" +#include "utilities.h" +marlin_1::marlin_1(firmware_arguments args) : firmware(args) { + feedrate_mm_s = 0; + current_position = new float[MARLIN_XYZE]; + apply_arguments(); +}; + +marlin_1::~marlin_1() +{ + delete current_position; +} + +void marlin_1::apply_arguments() +{ + static const std::vector<std::string> marlin_1_firmware_version_names{ + "1.1.9.1" + }; + set_versions(marlin_1_firmware_version_names, "1.1.9.1"); + marlin_1_version_ = (marlin_1::marlin_1_firmware_versions)version_index_; + std::vector<std::string> used_arguments; + /* Add case statement if we ever add any additional firmware versions + switch (marlin_1_version_) + { + default:*/ + plan_arc_ = &marlin_1::plan_arc_1_1_9_1; + used_arguments = { "mm_per_arc_segment", "n_arc_correction", "g90_g91_influences_extruder" }; + //break; + //} + + args_.set_used_arguments(used_arguments); +} + +firmware_arguments marlin_1::get_default_arguments_for_current_version() const +{ + // Start off with the current args so they are set up correctly for this firmware type and version + firmware_arguments default_args = args_; + + // firmware defaults + default_args.g90_g91_influences_extruder = false; + // Add the switch in here in case we want to add more versions. + //switch (marlin_1_version_) + //{ + //default: + // Active Settings + default_args.mm_per_arc_segment = 1.0f; + default_args.min_arc_segments = 24; + default_args.n_arc_correction = 25; + // Inactive Settings + default_args.arc_segments_per_r = 0; + default_args.min_mm_per_arc_segment = 0; + default_args.arc_segments_per_sec = 0; + // Settings that do not apply + default_args.mm_max_arc_error = 0; + //break; + //} + + return default_args; +} + +std::string marlin_1::interpolate_arc(firmware_position& target, double i, double j, double r, bool is_clockwise) +{ + // Clear the current list of gcodes + gcodes_.clear(); + + // Setup the current position + current_position[X_AXIS] = static_cast<float>(position_.x); + current_position[Y_AXIS] = static_cast<float>(position_.y); + current_position[Z_AXIS] = static_cast<float>(position_.z); + current_position[E_AXIS] = static_cast<float>(position_.e); + float marlin_target[MARLIN_XYZE]; + marlin_target[X_AXIS] = static_cast<float>(target.x); + marlin_target[Y_AXIS] = static_cast<float>(target.y); + marlin_target[Z_AXIS] = static_cast<float>(target.z); + marlin_target[E_AXIS] = static_cast<float>(target.e); + float marlin_offset[2]; + marlin_offset[0] = static_cast<float>(i); + marlin_offset[1] = static_cast<float>(j); + // TODO: handle R form!! + + // Set the feedrate + feedrate_mm_s = static_cast<float>(target.f); + uint8_t marlin_isclockwise = is_clockwise ? 1 : 0; + + (this->*plan_arc_)(marlin_target, marlin_offset, marlin_isclockwise); + + return gcodes_; +} + +/// <summary> +/// This function was adapted from the 1.1.9.1 release of Marlin firmware, which can be found at the following link: +/// https://github.com/MarlinFirmware/Marlin/blob/1314b31d97bba8cd74c6625c47176d4692f57790/Marlin/Marlin_main.cpp +/// Copyright Notice found on that page: +/// +/// +/// Marlin 3D Printer Firmware +/// Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] +/// +/// Based on Sprinter and grbl. +/// Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm +/// +/// This program is free software: you can redistribute it and/or modify +/// it under the terms of the GNU General Public License as published by +/// the Free Software Foundation, either version 3 of the License, or +/// (at your option) any later version. +/// +/// This program is distributed in the hope that it will be useful, +/// but WITHOUT ANY WARRANTY; without even the implied warranty of +/// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +/// GNU General Public License for more details. +/// +/// You should have received a copy of the GNU General Public License +/// along with this program. If not, see <http://www.gnu.org/licenses/>. +/// </summary> +/// <param name="cart">The target position</param> +/// <param name="offset">The I and J offset</param> +/// <param name="clockwise">Is the motion clockwise or counterclockwise</param> +void marlin_1::plan_arc_1_1_9_1(const float(&cart)[MARLIN_XYZE], // Destination position + const float(&offset)[2], // Center of rotation relative to current_position + const bool clockwise // Clockwise? +) +{ + // cnc workspace planes variables -- Note: This is NOT implemented, but is added for completeness in case it is in the future. + int active_extruder = 0; + AxisEnum p_axis, q_axis, l_axis; + p_axis = X_AXIS, q_axis = Y_AXIS, l_axis = Z_AXIS; + + + // Radius vector from center to current location + float r_P = -offset[0], r_Q = -offset[1]; + + const float radius = utilities::hypotf(r_P, r_Q), + center_P = current_position[p_axis] - r_P, + center_Q = current_position[q_axis] - r_Q, + rt_X = cart[p_axis] - center_P, + rt_Y = cart[q_axis] - center_Q, + linear_travel = cart[l_axis] - current_position[l_axis], + extruder_travel = cart[E_CART] - current_position[E_CART]; + + // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required. + float angular_travel = (float)utilities::atan2((double)r_P * rt_Y - (double)r_Q * rt_X, (double)r_P * rt_X + (double)r_Q * rt_Y); + if (angular_travel < 0) angular_travel += utilities::radiansf(360.0f); + if (clockwise) angular_travel -= utilities::radiansf(360.0f); + + // Make a circle if the angular rotation is 0 and the target is current position + if (angular_travel == 0 && current_position[p_axis] == cart[p_axis] && current_position[q_axis] == cart[q_axis]) + angular_travel = utilities::radiansf(360.0f); + + const float flat_mm = radius * angular_travel, + mm_of_travel = linear_travel ? utilities::hypotf(flat_mm, linear_travel) : utilities::absf(flat_mm); + if (mm_of_travel < 0.001f) return; + + uint16_t segments = (uint16_t)utilities::floorf(mm_of_travel / (float)(args_.mm_per_arc_segment)); + NOLESS(segments, 1); + + /** + * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, + * and phi is the angle of rotation. Based on the solution approach by Jens Geisler. + * r_T = [cos(phi) -sin(phi); + * sin(phi) cos(phi)] * r ; + * + * For arc generation, the center of the circle is the axis of rotation and the radius vector is + * defined from the circle center to the initial position. Each line segment is formed by successive + * vector rotations. This requires only two cos() and sin() computations to form the rotation + * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since + * all double numbers are single precision on the Arduino. (True double precision will not have + * round off issues for CNC applications.) Single precision error can accumulate to be greater than + * tool precision in some cases. Therefore, arc path correction is implemented. + * + * Small angle approximation may be used to reduce computation overhead further. This approximation + * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words, + * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large + * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for + * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an + * issue for CNC machines with the single precision Arduino calculations. + * + * This approximation also allows plan_arc to immediately insert a line segment into the planner + * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied + * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead. + * This is important when there are successive arc motions. + */ + // Vector rotation matrix values + float raw[MARLIN_XYZE]; + const float theta_per_segment = angular_travel / segments, + linear_per_segment = linear_travel / segments, + extruder_per_segment = extruder_travel / segments, + sin_T = theta_per_segment, + cos_T = 1 - 0.5f * utilities::sqf(theta_per_segment); // Small angle approximation + + // Initialize the linear axis + raw[l_axis] = current_position[l_axis]; + + // Initialize the extruder axis + raw[E_CART] = current_position[E_CART]; + + const float fr_mm_s = MMS_SCALED(feedrate_mm_s); + + int8_t arc_recalc_count = 0; + if (args_.n_arc_correction > 1) + { + arc_recalc_count = args_.n_arc_correction; + } + + + for (uint16_t i = 1; i < segments; i++) // Iterate (segments-1) times + { + + if (args_.n_arc_correction > 1 && --arc_recalc_count) + { + // Apply vector rotation matrix to previous r_P / 1 + const float r_new_Y = r_P * sin_T + r_Q * cos_T; + r_P = r_P * cos_T - r_Q * sin_T; + r_Q = r_new_Y; + } + else + { + if (args_.n_arc_correction > 1) + { + arc_recalc_count = args_.n_arc_correction; + } + + // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. + // Compute exact location by applying transformation matrix from initial radius vector(=-offset). + // To reduce stuttering, the sin and cos could be computed at different times. + // For now, compute both at the same time. + const float cos_Ti = (float)utilities::cos(i * (double)theta_per_segment), sin_Ti = (float)utilities::sin(i * (double)theta_per_segment); + r_P = -offset[0] * cos_Ti + offset[1] * sin_Ti; + r_Q = -offset[0] * sin_Ti - offset[1] * cos_Ti; + } + + // Update raw location + raw[p_axis] = center_P + r_P; + raw[q_axis] = center_Q + r_Q; + raw[l_axis] += linear_per_segment; + raw[E_CART] += extruder_per_segment; + + clamp_to_software_endstops(raw); + + + if (!buffer_line_kinematic(raw, feedrate_mm_s, active_extruder)) + break; + } + + buffer_line_kinematic(cart, feedrate_mm_s, active_extruder); + + COPY(current_position, cart); +} + +void marlin_1::NOLESS(uint16_t &x, uint16_t y) +{ + if (x < y) + x = y; +} + +float marlin_1::MMS_SCALED(float x) +{ + // No scaling + return x; +} + +void marlin_1::COPY(float target[MARLIN_XYZE], const float(&source)[MARLIN_XYZE]) +{ + // This is a slow copy, but speed isn't much of an issue here. + for (int i = 0; i < MARLIN_XYZE; i++) + { + target[i] = source[i]; + } +} + + +void marlin_1::clamp_to_software_endstops(const float(&raw)[MARLIN_XYZE]) +{ + // Do nothing, just added to keep mc_arc identical to the firmware version + return; +} + +//void marlin::buffer_line_kinematic(float x, float y, float z, const float& e, float feed_rate, uint8_t extruder, const float* gcode_target) +bool marlin_1::buffer_line_kinematic(const float(&cart)[MARLIN_XYZE], double fr_mm_s, int active_extruder) +{ + + // create the target position + firmware_position target; + target.x = cart[AxisEnum::X_AXIS]; + target.y = cart[AxisEnum::Y_AXIS]; + target.z = cart[AxisEnum::Z_AXIS]; + target.e = cart[AxisEnum::E_AXIS]; + target.f = fr_mm_s; + if (gcodes_.size() > 0) + { + gcodes_ += "\n"; + } + // Generate the gcode + gcodes_ += g1_command(target); + + // update the current position + set_current_position(target); + return true; +} |