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325 lines
11 KiB
325 lines
11 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* planner.h
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*
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* Buffer movement commands and manage the acceleration profile plan
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*
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* Derived from Grbl
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* Copyright (c) 2009-2011 Simen Svale Skogsrud
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*/
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#ifndef PLANNER_H
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#define PLANNER_H
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#include "Marlin.h"
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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#include "vector_3.h"
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#endif
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class Planner;
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extern Planner planner;
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/**
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* struct block_t
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*
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* A single entry in the planner buffer.
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* Tracks linear movement over multiple axes.
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*
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* The "nominal" values are as-specified by gcode, and
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* may never actually be reached due to acceleration limits.
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*/
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typedef struct {
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unsigned char active_extruder; // The extruder to move (if E move)
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// Fields used by the bresenham algorithm for tracing the line
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long steps[NUM_AXIS]; // Step count along each axis
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unsigned long step_event_count; // The number of step events required to complete this block
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long accelerate_until, // The index of the step event on which to stop acceleration
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decelerate_after, // The index of the step event on which to start decelerating
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acceleration_rate; // The acceleration rate used for acceleration calculation
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unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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#if ENABLED(ADVANCE)
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long advance_rate;
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volatile long initial_advance;
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volatile long final_advance;
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float advance;
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#endif
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// Fields used by the motion planner to manage acceleration
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float nominal_speed, // The nominal speed for this block in mm/sec
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entry_speed, // Entry speed at previous-current junction in mm/sec
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max_entry_speed, // Maximum allowable junction entry speed in mm/sec
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millimeters, // The total travel of this block in mm
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acceleration; // acceleration mm/sec^2
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unsigned char recalculate_flag, // Planner flag to recalculate trapezoids on entry junction
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nominal_length_flag; // Planner flag for nominal speed always reached
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// Settings for the trapezoid generator
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unsigned long nominal_rate, // The nominal step rate for this block in step_events/sec
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initial_rate, // The jerk-adjusted step rate at start of block
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final_rate, // The minimal rate at exit
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acceleration_steps_per_s2; // acceleration steps/sec^2
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#if FAN_COUNT > 0
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unsigned long fan_speed[FAN_COUNT];
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#endif
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#if ENABLED(BARICUDA)
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unsigned long valve_pressure, e_to_p_pressure;
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#endif
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volatile char busy;
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} block_t;
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#define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
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class Planner {
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public:
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/**
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* A ring buffer of moves described in steps
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*/
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static block_t block_buffer[BLOCK_BUFFER_SIZE];
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static volatile uint8_t block_buffer_head; // Index of the next block to be pushed
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static volatile uint8_t block_buffer_tail;
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static float max_feedrate[NUM_AXIS]; // Max speeds in mm per minute
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static float axis_steps_per_mm[NUM_AXIS];
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static unsigned long max_acceleration_steps_per_s2[NUM_AXIS];
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static unsigned long max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
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static millis_t min_segment_time;
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static float min_feedrate;
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static float acceleration; // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
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static float retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
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static float travel_acceleration; // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
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static float max_xy_jerk; // The largest speed change requiring no acceleration
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static float max_z_jerk;
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static float max_e_jerk;
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static float min_travel_feedrate;
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level
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#endif
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private:
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/**
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* The current position of the tool in absolute steps
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* Reclculated if any axis_steps_per_mm are changed by gcode
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*/
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static long position[NUM_AXIS];
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/**
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* Speed of previous path line segment
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*/
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static float previous_speed[NUM_AXIS];
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/**
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* Nominal speed of previous path line segment
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*/
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static float previous_nominal_speed;
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#if ENABLED(DISABLE_INACTIVE_EXTRUDER)
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/**
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* Counters to manage disabling inactive extruders
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*/
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static uint8_t g_uc_extruder_last_move[EXTRUDERS];
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#endif // DISABLE_INACTIVE_EXTRUDER
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#ifdef XY_FREQUENCY_LIMIT
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// Used for the frequency limit
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#define MAX_FREQ_TIME long(1000000.0/XY_FREQUENCY_LIMIT)
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// Old direction bits. Used for speed calculations
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static unsigned char old_direction_bits;
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// Segment times (in µs). Used for speed calculations
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static long axis_segment_time[2][3];
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#endif
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public:
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/**
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* Instance Methods
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*/
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Planner();
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void init();
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/**
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* Static (class) Methods
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*/
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static void reset_acceleration_rates();
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// Manage fans, paste pressure, etc.
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static void check_axes_activity();
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/**
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* Number of moves currently in the planner
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*/
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static uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }
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static bool is_full() { return (block_buffer_tail == BLOCK_MOD(block_buffer_head + 1)); }
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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/**
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* The corrected position, applying the bed level matrix
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*/
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static vector_3 adjusted_position();
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#endif
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/**
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* Add a new linear movement to the buffer.
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*
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* x,y,z,e - target position in mm
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* feed_rate - (target) speed of the move
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* extruder - target extruder
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*/
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static void buffer_line(float x, float y, float z, const float& e, float feed_rate, const uint8_t extruder);
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/**
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* Set the planner.position and individual stepper positions.
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* Used by G92, G28, G29, and other procedures.
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*
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* Multiplies by axis_steps_per_mm[] and does necessary conversion
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* for COREXY / COREXZ / COREYZ to set the corresponding stepper positions.
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*
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* Clears previous speed values.
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*/
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static void set_position_mm(float x, float y, float z, const float& e);
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#else
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static void buffer_line(const float& x, const float& y, const float& z, const float& e, float feed_rate, const uint8_t extruder);
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static void set_position_mm(const float& x, const float& y, const float& z, const float& e);
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#endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING
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/**
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* Set the E position (mm) of the planner (and the E stepper)
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*/
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static void set_e_position_mm(const float& e);
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/**
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* Does the buffer have any blocks queued?
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*/
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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.
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* Called when the current block is no longer needed.
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*/
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static void discard_current_block() {
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if (blocks_queued())
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block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
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}
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/**
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* The current block. NULL if the buffer is empty.
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* This also marks the block as busy.
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*/
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static block_t* get_current_block() {
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if (blocks_queued()) {
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block_t* block = &block_buffer[block_buffer_tail];
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block->busy = true;
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return block;
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}
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else
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return NULL;
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}
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#if ENABLED(AUTOTEMP)
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static float autotemp_max;
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static float autotemp_min;
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static float autotemp_factor;
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static bool autotemp_enabled;
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static void getHighESpeed();
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static void autotemp_M109();
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#endif
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private:
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/**
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* Get the index of the next / previous block in the ring buffer
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*/
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static int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); }
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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
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* from initial_rate to target_rate using the given acceleration:
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*/
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static float estimate_acceleration_distance(float initial_rate, float target_rate, float accel) {
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if (accel == 0) return 0; // accel was 0, set acceleration distance to 0
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return (target_rate * target_rate - initial_rate * initial_rate) / (accel * 2);
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}
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/**
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* Return the point at which you must start braking (at the rate of -'acceleration') if
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* you start at 'initial_rate', accelerate (until reaching the point), and want to end at
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* 'final_rate' after traveling 'distance'.
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*
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* This is used to compute the intersection point between acceleration and deceleration
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* in cases where the "trapezoid" has no plateau (i.e., never reaches maximum speed)
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*/
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static float intersection_distance(float initial_rate, float final_rate, float accel, float distance) {
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if (accel == 0) return 0; // accel was 0, set intersection distance to 0
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return (accel * 2 * distance - initial_rate * initial_rate + final_rate * final_rate) / (accel * 4);
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}
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/**
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* Calculate the maximum allowable speed at this point, in order
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* to reach 'target_velocity' using 'acceleration' within a given
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* 'distance'.
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*/
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static float max_allowable_speed(float accel, float target_velocity, float distance) {
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return sqrt(target_velocity * target_velocity - 2 * accel * distance);
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}
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static void calculate_trapezoid_for_block(block_t* block, float entry_factor, float exit_factor);
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static void reverse_pass_kernel(block_t* previous, block_t* current, block_t* next);
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static void forward_pass_kernel(block_t* previous, block_t* current, block_t* next);
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static void reverse_pass();
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static void forward_pass();
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static void recalculate_trapezoids();
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static void recalculate();
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};
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#endif // PLANNER_H
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