/* 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_x, steps_y, steps_z, steps_e; // 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; volatile char busy; } block_t; // Initialize the motion plan subsystem void plan_init(); // Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in // millimaters. Feed rate specifies the speed of the motion. void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder); // Set position. Used for G92 instructions. void plan_set_position(const float &x, const float &y, const float &z, const float &e); void plan_set_e_position(const float &e); void check_axes_activity(); uint8_t movesplanned(); //return the nr of buffered moves extern unsigned long minsegmenttime; extern float max_feedrate[4]; // set the max speeds extern float axis_steps_per_unit[4]; extern unsigned long max_acceleration_units_per_sq_second[4]; // 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 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 instfructions extern volatile unsigned char block_buffer_head; // Index of the next block to be pushed extern volatile unsigned char block_buffer_tail; // Called when the current block is no longer needed. Discards the block and makes the memory // availible for new blocks. FORCE_INLINE void plan_discard_current_block() { if (block_buffer_head != block_buffer_tail) { block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1); } } // Gets the current block. Returns NULL if buffer empty FORCE_INLINE block_t *plan_get_current_block() { if (block_buffer_head == block_buffer_tail) { return(NULL); } block_t *block = &block_buffer[block_buffer_tail]; block->busy = true; return(block); } // Gets the current block. Returns NULL if buffer empty FORCE_INLINE bool blocks_queued() { if (block_buffer_head == block_buffer_tail) { return false; } else return true; } void allow_cold_extrudes(bool allow); void reset_acceleration_rates(); #endif