/* planner.h - buffers movement commands and manages the acceleration profile plan Part of Grbl Copyright (c) 2009-2011 Simen Svale Skogsrud Grbl 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. Grbl 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 Grbl. If not, see . */ // This module is to be considered a sub-module of stepper.c. Please don't include // this file from any other module. #ifndef PLANNER_H #define PLANNER_H #include "Marlin.h" // This struct is used when buffering the setup for each linear movement "nominal" values are as specified in // the source g-code and may never actually be reached if acceleration management is active. typedef struct { // Fields used by the bresenham algorithm for tracing the line long steps[NUM_AXIS]; // Step count along each axis unsigned long step_event_count; // The number of step events required to complete this block long accelerate_until; // The index of the step event on which to stop acceleration long decelerate_after; // The index of the step event on which to start decelerating long acceleration_rate; // The acceleration rate used for acceleration calculation unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h) unsigned char active_extruder; // Selects the active extruder #ifdef ADVANCE long advance_rate; volatile long initial_advance; volatile long final_advance; float advance; #endif // Fields used by the motion planner to manage acceleration // float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis float nominal_speed; // The nominal speed for this block in mm/sec float entry_speed; // Entry speed at previous-current junction in mm/sec float max_entry_speed; // Maximum allowable junction entry speed in mm/sec float millimeters; // The total travel of this block in mm float acceleration; // acceleration mm/sec^2 unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction unsigned char nominal_length_flag; // Planner flag for nominal speed always reached // Settings for the trapezoid generator unsigned long nominal_rate; // The nominal step rate for this block in step_events/sec unsigned long initial_rate; // The jerk-adjusted step rate at start of block unsigned long final_rate; // The minimal rate at exit unsigned long acceleration_st; // acceleration steps/sec^2 unsigned long fan_speed; #ifdef BARICUDA unsigned long valve_pressure; unsigned long e_to_p_pressure; #endif volatile char busy; } block_t; #define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1)) // Initialize the motion plan subsystem void plan_init(); void check_axes_activity(); // Get the number of buffered moves extern volatile unsigned char block_buffer_head; extern volatile unsigned char block_buffer_tail; FORCE_INLINE uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); } #if defined(ENABLE_AUTO_BED_LEVELING) || defined(MESH_BED_LEVELING) #if defined(ENABLE_AUTO_BED_LEVELING) #include "vector_3.h" // Transform required to compensate for bed level extern matrix_3x3 plan_bed_level_matrix; /** * Get the position applying the bed level matrix */ vector_3 plan_get_position(); #endif // ENABLE_AUTO_BED_LEVELING /** * Add a new linear movement to the buffer. x, y, z are the signed, absolute target position in * millimeters. Feed rate specifies the (target) speed of the motion. */ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder); /** * Set the planner positions. Used for G92 instructions. * Multiplies by axis_steps_per_unit[] to set stepper positions. * Clears previous speed values. */ void plan_set_position(float x, float y, float z, const float &e); #else void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder); void plan_set_position(const float &x, const float &y, const float &z, const float &e); #endif // ENABLE_AUTO_BED_LEVELING || MESH_BED_LEVELING void plan_set_e_position(const float &e); extern millis_t minsegmenttime; extern float max_feedrate[NUM_AXIS]; // set the max speeds extern float axis_steps_per_unit[NUM_AXIS]; extern unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software extern float minimumfeedrate; extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX extern float travel_acceleration; // Travel acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly. extern float max_z_jerk; extern float max_e_jerk; extern float mintravelfeedrate; extern unsigned long axis_steps_per_sqr_second[NUM_AXIS]; #ifdef AUTOTEMP extern bool autotemp_enabled; extern float autotemp_max; extern float autotemp_min; extern float autotemp_factor; #endif extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions extern volatile unsigned char block_buffer_head; // Index of the next block to be pushed extern volatile unsigned char block_buffer_tail; // Returns true if the buffer has a queued block, false otherwise FORCE_INLINE bool blocks_queued() { return (block_buffer_head != block_buffer_tail); } // Called when the current block is no longer needed. Discards // the block and makes the memory available for new blocks. FORCE_INLINE void plan_discard_current_block() { if (blocks_queued()) block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1); } // Gets the current block. Returns NULL if buffer empty FORCE_INLINE block_t *plan_get_current_block() { if (blocks_queued()) { block_t *block = &block_buffer[block_buffer_tail]; block->busy = true; return block; } else return NULL; } void reset_acceleration_rates(); #endif // PLANNER_H