|  |  |  | @ -187,7 +187,7 @@ class Planner { | 
			
		
	
		
			
				
					|  |  |  |  |     /**
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					|  |  |  |  |      * Number of moves currently in the planner | 
			
		
	
		
			
				
					|  |  |  |  |      */ | 
			
		
	
		
			
				
					|  |  |  |  |     static FORCE_INLINE uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); } | 
			
		
	
		
			
				
					|  |  |  |  |     static uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); } | 
			
		
	
		
			
				
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					|  |  |  |  |     #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING) | 
			
		
	
		
			
				
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					|  |  |  | @ -233,13 +233,13 @@ class Planner { | 
			
		
	
		
			
				
					|  |  |  |  |     /**
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					|  |  |  |  |      * Does the buffer have any blocks queued? | 
			
		
	
		
			
				
					|  |  |  |  |      */ | 
			
		
	
		
			
				
					|  |  |  |  |     static FORCE_INLINE bool blocks_queued() { return (block_buffer_head != block_buffer_tail); } | 
			
		
	
		
			
				
					|  |  |  |  |     static bool blocks_queued() { return (block_buffer_head != block_buffer_tail); } | 
			
		
	
		
			
				
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					|  |  |  |  |     /**
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					|  |  |  |  |      * "Discards" the block and "releases" the memory. | 
			
		
	
		
			
				
					|  |  |  |  |      * Called when the current block is no longer needed. | 
			
		
	
		
			
				
					|  |  |  |  |      */ | 
			
		
	
		
			
				
					|  |  |  |  |     static FORCE_INLINE void discard_current_block() { | 
			
		
	
		
			
				
					|  |  |  |  |     static void discard_current_block() { | 
			
		
	
		
			
				
					|  |  |  |  |       if (blocks_queued()) | 
			
		
	
		
			
				
					|  |  |  |  |         block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1); | 
			
		
	
		
			
				
					|  |  |  |  |     } | 
			
		
	
	
		
			
				
					|  |  |  | @ -248,7 +248,7 @@ class Planner { | 
			
		
	
		
			
				
					|  |  |  |  |      * The current block. NULL if the buffer is empty. | 
			
		
	
		
			
				
					|  |  |  |  |      * This also marks the block as busy. | 
			
		
	
		
			
				
					|  |  |  |  |      */ | 
			
		
	
		
			
				
					|  |  |  |  |     static FORCE_INLINE block_t* get_current_block() { | 
			
		
	
		
			
				
					|  |  |  |  |     static block_t* get_current_block() { | 
			
		
	
		
			
				
					|  |  |  |  |       if (blocks_queued()) { | 
			
		
	
		
			
				
					|  |  |  |  |         block_t* block = &block_buffer[block_buffer_tail]; | 
			
		
	
		
			
				
					|  |  |  |  |         block->busy = true; | 
			
		
	
	
		
			
				
					|  |  |  | @ -272,14 +272,14 @@ class Planner { | 
			
		
	
		
			
				
					|  |  |  |  |     /**
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					|  |  |  |  |      * Get the index of the next / previous block in the ring buffer | 
			
		
	
		
			
				
					|  |  |  |  |      */ | 
			
		
	
		
			
				
					|  |  |  |  |     static FORCE_INLINE int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); } | 
			
		
	
		
			
				
					|  |  |  |  |     static FORCE_INLINE int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); } | 
			
		
	
		
			
				
					|  |  |  |  |     static int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); } | 
			
		
	
		
			
				
					|  |  |  |  |     static int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); } | 
			
		
	
		
			
				
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					|  |  |  |  |     /**
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					|  |  |  |  |      * Calculate the distance (not time) it takes to accelerate | 
			
		
	
		
			
				
					|  |  |  |  |      * from initial_rate to target_rate using the given acceleration: | 
			
		
	
		
			
				
					|  |  |  |  |      */ | 
			
		
	
		
			
				
					|  |  |  |  |     static FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) { | 
			
		
	
		
			
				
					|  |  |  |  |     static float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) { | 
			
		
	
		
			
				
					|  |  |  |  |       if (acceleration == 0) return 0; // acceleration was 0, set acceleration distance to 0
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					|  |  |  |  |       return (target_rate * target_rate - initial_rate * initial_rate) / (acceleration * 2); | 
			
		
	
		
			
				
					|  |  |  |  |     } | 
			
		
	
	
		
			
				
					|  |  |  | @ -292,7 +292,7 @@ class Planner { | 
			
		
	
		
			
				
					|  |  |  |  |      * This is used to compute the intersection point between acceleration and deceleration | 
			
		
	
		
			
				
					|  |  |  |  |      * in cases where the "trapezoid" has no plateau (i.e., never reaches maximum speed) | 
			
		
	
		
			
				
					|  |  |  |  |      */ | 
			
		
	
		
			
				
					|  |  |  |  |     static FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) { | 
			
		
	
		
			
				
					|  |  |  |  |     static float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) { | 
			
		
	
		
			
				
					|  |  |  |  |       if (acceleration == 0) return 0; // acceleration was 0, set intersection distance to 0
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					|  |  |  |  |       return (acceleration * 2 * distance - initial_rate * initial_rate + final_rate * final_rate) / (acceleration * 4); | 
			
		
	
		
			
				
					|  |  |  |  |     } | 
			
		
	
	
		
			
				
					|  |  |  | @ -302,7 +302,7 @@ class Planner { | 
			
		
	
		
			
				
					|  |  |  |  |      * to reach 'target_velocity' using 'acceleration' within a given | 
			
		
	
		
			
				
					|  |  |  |  |      * 'distance'. | 
			
		
	
		
			
				
					|  |  |  |  |      */ | 
			
		
	
		
			
				
					|  |  |  |  |     static FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) { | 
			
		
	
		
			
				
					|  |  |  |  |     static float max_allowable_speed(float acceleration, float target_velocity, float distance) { | 
			
		
	
		
			
				
					|  |  |  |  |       return sqrt(target_velocity * target_velocity - 2 * acceleration * distance); | 
			
		
	
		
			
				
					|  |  |  |  |     } | 
			
		
	
		
			
				
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