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Add BEZIER_CURVE_SUPPORT (G5 XYZEFIJPQ)

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This commit is contained in:
Scott Lahteine 2016-05-12 13:33:47 -07:00
parent b4c891dfd2
commit ddac17a195
20 changed files with 350 additions and 1 deletions
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6
.travis.yml
View file

@ -179,6 +179,12 @@ script:
- opt_enable ULTIMAKERCONTROLLER FILAMENT_LCD_DISPLAY
- build_marlin
#
# Enable BEZIER_CURVE_SUPPORT
#
- restore_configs
- opt_enable_adv BEZIER_CURVE_SUPPORT
- build_marlin
#
# Enable COREXY
#
- restore_configs

3
Marlin/Configuration_adv.h
View file

@ -457,6 +457,9 @@
#define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25
// Support for G5 with XYZE destination and IJPQ offsets
//#define BEZIER_CURVE_SUPPORT
const unsigned int dropsegments = 5; //everything with less than this number of steps will be ignored as move and joined with the next movement
// @section temperature

72
Marlin/Marlin_main.cpp
View file

@ -45,6 +45,10 @@
#include "mesh_bed_leveling.h"
#endif
#if ENABLED(BEZIER_CURVE_SUPPORT)
#include "planner_bezier.h"
#endif
#include "ultralcd.h"
#include "planner.h"
#include "stepper.h"
@ -102,6 +106,7 @@
* G2 - CW ARC
* G3 - CCW ARC
* G4 - Dwell S<seconds> or P<milliseconds>
* G5 - Cubic B-spline with
* G10 - retract filament according to settings of M207
* G11 - retract recover filament according to settings of M208
* G28 - Home one or more axes
@ -510,6 +515,10 @@ void process_next_command();
void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
#endif
#if ENABLED(BEZIER_CURVE_SUPPORT)
void plan_cubic_move(const float offset[4]);
#endif
void serial_echopair_P(const char* s_P, int v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char* s_P, float v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
@ -2510,6 +2519,43 @@ inline void gcode_G4() {
while (PENDING(millis(), codenum)) idle();
}
#if ENABLED(BEZIER_CURVE_SUPPORT)
/**
* Parameters interpreted according to:
* http://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G5-Cubic-Spline
* However I, J omission is not supported at this point; all
* parameters can be omitted and default to zero.
*/
/**
* G5: Cubic B-spline
*/
inline void gcode_G5() {
if (IsRunning()) {
#ifdef SF_ARC_FIX
bool relative_mode_backup = relative_mode;
relative_mode = true;
#endif
gcode_get_destination();
#ifdef SF_ARC_FIX
relative_mode = relative_mode_backup;
#endif
float offset[] = {
code_seen('I') ? code_value() : 0.0,
code_seen('J') ? code_value() : 0.0,
code_seen('P') ? code_value() : 0.0,
code_seen('Q') ? code_value() : 0.0
};
plan_cubic_move(offset);
}
}
#endif // BEZIER_CURVE_SUPPORT
#if ENABLED(FWRETRACT)
/**
@ -6489,10 +6535,12 @@ void process_next_command() {
// G2, G3
#if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
case 2: // G2 - CW ARC
case 3: // G3 - CCW ARC
gcode_G2_G3(codenum == 2);
break;
#endif
// G4 Dwell
@ -6500,6 +6548,15 @@ void process_next_command() {
gcode_G4();
break;
#if ENABLED(BEZIER_CURVE_SUPPORT)
// G5
case 5: // G5 - Cubic B_spline
gcode_G5();
break;
#endif // BEZIER_CURVE_SUPPORT
#if ENABLED(FWRETRACT)
case 10: // G10: retract
@ -6507,7 +6564,7 @@ void process_next_command() {
gcode_G10_G11(codenum == 10);
break;
#endif //FWRETRACT
#endif // FWRETRACT
case 28: // G28: Home all axes, one at a time
gcode_G28();
@ -7579,6 +7636,19 @@ void prepare_move() {
}
#endif
#if ENABLED(BEZIER_CURVE_SUPPORT)
void plan_cubic_move(const float offset[4]) {
cubic_b_spline(current_position, destination, offset, feedrate * feedrate_multiplier / 60 / 100.0, active_extruder);
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
// in any intermediate location.
set_current_to_destination();
}
#endif // BEZIER_CURVE_SUPPORT
#if HAS_CONTROLLERFAN
void controllerFan() {

3
Marlin/example_configurations/Felix/Configuration_adv.h
View file

@ -457,6 +457,9 @@
#define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25
// Support for G5 with XYZE destination and IJPQ offsets
//#define BEZIER_CURVE_SUPPORT
const unsigned int dropsegments = 5; //everything with less than this number of steps will be ignored as move and joined with the next movement
// @section temperature

3
Marlin/example_configurations/Hephestos/Configuration_adv.h
View file

@ -457,6 +457,9 @@
#define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25
// Support for G5 with XYZE destination and IJPQ offsets
//#define BEZIER_CURVE_SUPPORT
const unsigned int dropsegments = 5; //everything with less than this number of steps will be ignored as move and joined with the next movement
// @section temperature

3
Marlin/example_configurations/Hephestos_2/Configuration_adv.h
View file

@ -457,6 +457,9 @@
#define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25
// Support for G5 with XYZE destination and IJPQ offsets
//#define BEZIER_CURVE_SUPPORT
const unsigned int dropsegments = 5; //everything with less than this number of steps will be ignored as move and joined with the next movement
// @section temperature

3
Marlin/example_configurations/K8200/Configuration_adv.h
View file

@ -463,6 +463,9 @@
#define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25
// Support for G5 with XYZE destination and IJPQ offsets
//#define BEZIER_CURVE_SUPPORT
const unsigned int dropsegments = 2; //everything with less than this number of steps will be ignored as move and joined with the next movement
// @section temperature

3
Marlin/example_configurations/RigidBot/Configuration_adv.h
View file

@ -457,6 +457,9 @@
#define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25
// Support for G5 with XYZE destination and IJPQ offsets
//#define BEZIER_CURVE_SUPPORT
const unsigned int dropsegments = 5; //everything with less than this number of steps will be ignored as move and joined with the next movement
// @section temperature

3
Marlin/example_configurations/SCARA/Configuration_adv.h
View file

@ -457,6 +457,9 @@
#define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25
// Support for G5 with XYZE destination and IJPQ offsets
//#define BEZIER_CURVE_SUPPORT
const unsigned int dropsegments = 5; //everything with less than this number of steps will be ignored as move and joined with the next movement
// @section temperature

3
Marlin/example_configurations/TAZ4/Configuration_adv.h
View file

@ -465,6 +465,9 @@
#define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25
// Support for G5 with XYZE destination and IJPQ offsets
//#define BEZIER_CURVE_SUPPORT
const unsigned int dropsegments = 5; //everything with less than this number of steps will be ignored as move and joined with the next movement
// @section temperature

3
Marlin/example_configurations/WITBOX/Configuration_adv.h
View file

@ -457,6 +457,9 @@
#define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25
// Support for G5 with XYZE destination and IJPQ offsets
//#define BEZIER_CURVE_SUPPORT
const unsigned int dropsegments = 5; //everything with less than this number of steps will be ignored as move and joined with the next movement
// @section temperature

3
Marlin/example_configurations/delta/biv2.5/Configuration_adv.h
View file

@ -459,6 +459,9 @@
#define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25
// Support for G5 with XYZE destination and IJPQ offsets
//#define BEZIER_CURVE_SUPPORT
const unsigned int dropsegments = 5; //everything with less than this number of steps will be ignored as move and joined with the next movement
// @section temperature

3
Marlin/example_configurations/delta/generic/Configuration_adv.h
View file

@ -459,6 +459,9 @@
#define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25
// Support for G5 with XYZE destination and IJPQ offsets
//#define BEZIER_CURVE_SUPPORT
const unsigned int dropsegments = 5; //everything with less than this number of steps will be ignored as move and joined with the next movement
// @section temperature

3
Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
View file

@ -458,6 +458,9 @@
#define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25
// Support for G5 with XYZE destination and IJPQ offsets
//#define BEZIER_CURVE_SUPPORT
const unsigned int dropsegments = 5; //everything with less than this number of steps will be ignored as move and joined with the next movement
// @section temperature

3
Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
View file

@ -463,6 +463,9 @@
#define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25
// Support for G5 with XYZE destination and IJPQ offsets
//#define BEZIER_CURVE_SUPPORT
const unsigned int dropsegments = 5; //everything with less than this number of steps will be ignored as move and joined with the next movement
// @section temperature

3
Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
View file

@ -459,6 +459,9 @@
#define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25
// Support for G5 with XYZE destination and IJPQ offsets
//#define BEZIER_CURVE_SUPPORT
const unsigned int dropsegments = 5; //everything with less than this number of steps will be ignored as move and joined with the next movement
// @section temperature

3
Marlin/example_configurations/makibox/Configuration_adv.h
View file

@ -457,6 +457,9 @@
#define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25
// Support for G5 with XYZE destination and IJPQ offsets
//#define BEZIER_CURVE_SUPPORT
const unsigned int dropsegments = 5; //everything with less than this number of steps will be ignored as move and joined with the next movement
// @section temperature

3
Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
View file

@ -457,6 +457,9 @@
#define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25
// Support for G5 with XYZE destination and IJPQ offsets
//#define BEZIER_CURVE_SUPPORT
const unsigned int dropsegments = 5; //everything with less than this number of steps will be ignored as move and joined with the next movement
// @section temperature

182
Marlin/planner_bezier.cpp Normal file
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@ -0,0 +1,182 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 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/>.
*
*/
/**
* planner_bezier.cpp
*
* Compute and buffer movement commands for bezier curves
*
*/
#include "Marlin.h"
#if ENABLED(BEZIER_CURVE_SUPPORT)
#include "planner.h"
#include "language.h"
// See the meaning in the documentation of cubic_b_spline().
#define MIN_STEP 0.002
#define MAX_STEP 0.1
#define SIGMA 0.1
/* Compute the linear interpolation between to real numbers.
*/
inline static float interp(float a, float b, float t) { return (1.0 - t) * a + t * b; }
/**
* Compute a Bézier curve using the De Casteljau's algorithm (see
* https://en.wikipedia.org/wiki/De_Casteljau%27s_algorithm), which is
* easy to code and has good numerical stability (very important,
* since Arudino works with limited precision real numbers).
*/
inline static float eval_bezier(float a, float b, float c, float d, float t) {
float iab = interp(a, b, t);
float ibc = interp(b, c, t);
float icd = interp(c, d, t);
float iabc = interp(iab, ibc, t);
float ibcd = interp(ibc, icd, t);
float iabcd = interp(iabc, ibcd, t);
return iabcd;
}
/**
* We approximate Euclidean distance with the sum of the coordinates
* offset (so-called "norm 1"), which is quicker to compute.
*/
inline static float dist1(float x1, float y1, float x2, float y2) { return fabs(x1 - x2) + fabs(y1 - y2); }
/**
* The algorithm for computing the step is loosely based on the one in Kig
* (See https://sources.debian.net/src/kig/4:15.08.3-1/misc/kigpainter.cpp/#L759)
* However, we do not use the stack.
*
* The algorithm goes as it follows: the parameters t runs from 0.0 to
* 1.0 describing the curve, which is evaluated by eval_bezier(). At
* each iteration we have to choose a step, i.e., the increment of the
* t variable. By default the step of the previous iteration is taken,
* and then it is enlarged or reduced depending on how straight the
* curve locally is. The step is always clamped between MIN_STEP/2 and
* 2*MAX_STEP. MAX_STEP is taken at the first iteration.
*
* For some t, the step value is considered acceptable if the curve in
* the interval [t, t+step] is sufficiently straight, i.e.,
* sufficiently close to linear interpolation. In practice the
* following test is performed: the distance between eval_bezier(...,
* t+step/2) is evaluated and compared with 0.5*(eval_bezier(...,
* t)+eval_bezier(..., t+step)). If it is smaller than SIGMA, then the
* step value is considered acceptable, otherwise it is not. The code
* seeks to find the larger step value which is considered acceptable.
*
* At every iteration the recorded step value is considered and then
* iteratively halved until it becomes acceptable. If it was already
* acceptable in the beginning (i.e., no halving were done), then
* maybe it was necessary to enlarge it; then it is iteratively
* doubled while it remains acceptable. The last acceptable value
* found is taken, provided that it is between MIN_STEP and MAX_STEP
* and does not bring t over 1.0.
*
* Caveat: this algorithm is not perfect, since it can happen that a
* step is considered acceptable even when the curve is not linear at
* all in the interval [t, t+step] (but its mid point coincides "by
* chance" with the midpoint according to the parametrization). This
* kind of glitches can be eliminated with proper first derivative
* estimates; however, given the improbability of such configurations,
* the mitigation offered by MIN_STEP and the small computational
* power available on Arduino, I think it is not wise to implement it.
*/
void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS], const float offset[4], float feed_rate, uint8_t extruder) {
// Absolute first and second control points are recovered.
float first0 = position[X_AXIS] + offset[0];
float first1 = position[Y_AXIS] + offset[1];
float second0 = target[X_AXIS] + offset[2];
float second1 = target[Y_AXIS] + offset[3];
float t = 0.0;
float tmp[4];
tmp[X_AXIS] = position[X_AXIS];
tmp[Y_AXIS] = position[Y_AXIS];
float step = MAX_STEP;
while (t < 1.0) {
// First try to reduce the step in order to make it sufficiently
// close to a linear interpolation.
bool did_reduce = false;
float new_t = t + step;
NOMORE(new_t, 1.0);
float new_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], new_t);
float new_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], new_t);
for (;;) {
if (new_t - t < (MIN_STEP)) break;
float candidate_t = 0.5 * (t + new_t);
float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t);
float candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t);
float interp_pos0 = 0.5 * (tmp[X_AXIS] + new_pos0);
float interp_pos1 = 0.5 * (tmp[Y_AXIS] + new_pos1);
if (dist1(candidate_pos0, candidate_pos1, interp_pos0, interp_pos1) <= (SIGMA)) break;
new_t = candidate_t;
new_pos0 = candidate_pos0;
new_pos1 = candidate_pos1;
did_reduce = true;
}
// If we did not reduce the step, maybe we should enlarge it.
if (!did_reduce) for (;;) {
if (new_t - t > MAX_STEP) break;
float candidate_t = t + 2.0 * (new_t - t);
if (candidate_t >= 1.0) break;
float candidate_pos0 = eval_bezier(position[X_AXIS], first0, second0, target[X_AXIS], candidate_t);
float candidate_pos1 = eval_bezier(position[Y_AXIS], first1, second1, target[Y_AXIS], candidate_t);
float interp_pos0 = 0.5 * (tmp[X_AXIS] + candidate_pos0);
float interp_pos1 = 0.5 * (tmp[Y_AXIS] + candidate_pos1);
if (dist1(new_pos0, new_pos1, interp_pos0, interp_pos1) > (SIGMA)) break;
new_t = candidate_t;
new_pos0 = candidate_pos0;
new_pos1 = candidate_pos1;
}
// Check some postcondition; they are disabled in the actual
// Marlin build, but if you test the same code on a computer you
// may want to check they are respect.
/*
assert(new_t <= 1.0);
if (new_t < 1.0) {
assert(new_t - t >= (MIN_STEP) / 2.0);
assert(new_t - t <= (MAX_STEP) * 2.0);
}
*/
step = new_t - t;
t = new_t;
// Compute and send new position
tmp[X_AXIS] = new_pos0;
tmp[Y_AXIS] = new_pos1;
// FIXME. The following two are wrong, since the parameter t is
// not linear in the distance.
tmp[Z_AXIS] = interp(position[Z_AXIS], target[Z_AXIS], t);
tmp[E_AXIS] = interp(position[E_AXIS], target[E_AXIS], t);
clamp_to_software_endstops(tmp);
planner.buffer_line(tmp[X_AXIS], tmp[Y_AXIS], tmp[Z_AXIS], tmp[E_AXIS], feed_rate, extruder);
}
}
#endif // BEZIER_CURVE_SUPPORT

43
Marlin/planner_bezier.h Normal file
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@ -0,0 +1,43 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 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/>.
*
*/
/**
* planner_bezier.h
*
* Compute and buffer movement commands for bezier curves
*
*/
#ifndef PLANNER_BEZIER_H
#define PLANNER_BEZIER_H
#include "Marlin.h"
void cubic_b_spline(
const float position[NUM_AXIS], // current position
const float target[NUM_AXIS], // target position
const float offset[4], // a pair of offsets
float feed_rate,
uint8_t extruder
);
#endif // PLANNER_BEZIER_H