@ -21,20 +21,16 @@
// This module is to be considered a sub-module of stepper.c. Please don't include
// This module is to be considered a sub-module of stepper.c. Please don't include
// this file from any other module.
// this file from any other module.
# ifndef planner_h # ifndef PLANNER_H
# define planner_h # define PLANNER_H
# include "Marlin.h" # include "Marlin.h"
# ifdef ENABLE_AUTO_BED_LEVELING
# include "vector_3.h"
# endif // ENABLE_AUTO_BED_LEVELING
// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
// 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.
// the source g-code and may never actually be reached if acceleration management is active.
typedef struct { typedef struct {
// Fields used by the bresenham algorithm for tracing the line
// Fields used by the bresenham algorithm for tracing the line
long steps_x , steps_y , steps_z , steps_e ; // Step count along each axis
long steps [ NUM_AXIS ] ; // Step count along each axis
unsigned long step_event_count ; // The number of step events required to complete this block
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 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 decelerate_after ; // The index of the step event on which to start decelerating
@ -49,7 +45,7 @@ typedef struct {
# endif # endif
// Fields used by the motion planner to manage acceleration
// 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 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 nominal_speed ; // The nominal speed for this block in mm/sec
float entry_speed ; // Entry speed at previous-current junction 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 max_entry_speed ; // Maximum allowable junction entry speed in mm/sec
@ -65,48 +61,44 @@ typedef struct {
unsigned long acceleration_st ; // acceleration steps/sec^2
unsigned long acceleration_st ; // acceleration steps/sec^2
unsigned long fan_speed ; unsigned long fan_speed ;
# ifdef BARICUDA # ifdef BARICUDA
unsigned long valve_pressure ; unsigned long valve_pressure ;
unsigned long e_to_p_pressure ; unsigned long e_to_p_pressure ;
# endif # endif
volatile char busy ; volatile char busy ;
} block_t ; } block_t ;
# ifdef ENABLE_AUTO_BED_LEVELING # define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
// this holds the required transform to compensate for bed level
extern matrix_3x3 plan_bed_level_matrix ;
# endif // #ifdef ENABLE_AUTO_BED_LEVELING
// Initialize the motion plan subsystem
// Initialize the motion plan subsystem
void plan_init ( ) ; void plan_init ( ) ;
// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
void check_axes_activity ( ) ;
// millimaters. Feed rate specifies the speed of the motion.
# ifdef ENABLE_AUTO_BED_LEVELING // Get the number of buffered moves
void plan_buffer_line ( float x , float y , float z , const float & e , float feed_rate , const uint8_t & extruder ) ; 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 ) ; }
# ifdef ENABLE_AUTO_BED_LEVELING
# include "vector_3.h"
// this holds the required transform to compensate for bed level
extern matrix_3x3 plan_bed_level_matrix ;
// 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 ( float x , float y , float z , const float & e , float feed_rate , const uint8_t & extruder ) ;
// Set position. Used for G92 instructions.
void plan_set_position ( float x , float y , float z , const float & e ) ;
# ifndef DELTA # ifndef DELTA
// Get the position applying the bed level matrix if enabled
// Get the position applying the bed level matrix if enabled
vector_3 plan_get_position ( ) ; vector_3 plan_get_position ( ) ;
# endif # endif
# else # else //!ENABLE_AUTO_BED_LEVELING
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_buffer_line ( const float & x , const float & y , const float & z , const float & e , float feed_rate , const uint8_t & extruder ) ;
# endif // ENABLE_AUTO_BED_LEVELING
void plan_set_position ( const float & x , const float & y , const float & z , const float & e ) ;
# endif //!ENABLE_AUTO_BED_LEVELING
// Set position. Used for G92 instructions.
# ifdef ENABLE_AUTO_BED_LEVELING
void plan_set_position ( float x , float y , float z , const float & e ) ;
# else
void plan_set_position ( const float & x , const float & y , const float & z , const float & e ) ;
# endif // ENABLE_AUTO_BED_LEVELING
void plan_set_e_position ( 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 unsigned long minsegmenttime ;
extern float max_feedrate [ NUM_AXIS ] ; // set the max speeds
extern float max_feedrate [ NUM_AXIS ] ; // set the max speeds
extern float axis_steps_per_unit [ NUM_AXIS ] ; extern float axis_steps_per_unit [ NUM_AXIS ] ;
@ -122,44 +114,41 @@ extern float mintravelfeedrate;
extern unsigned long axis_steps_per_sqr_second [ NUM_AXIS ] ; extern unsigned long axis_steps_per_sqr_second [ NUM_AXIS ] ;
# ifdef AUTOTEMP # ifdef AUTOTEMP
extern bool autotemp_enabled ; extern bool autotemp_enabled ;
extern float autotemp_max ; extern float autotemp_max ;
extern float autotemp_min ; extern float autotemp_min ;
extern float autotemp_factor ; extern float autotemp_factor ;
# endif # endif
extern block_t block_buffer [ BLOCK_BUFFER_SIZE ] ; // A ring buffer for motion instructions
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_head ; // Index of the next block to be pushed
extern volatile unsigned char block_buffer_tail ; 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.
// Returns true if the buffer has a queued block, false otherwise
FORCE_INLINE void plan_discard_current_block ( ) FORCE_INLINE bool blocks_queued ( ) { return ( block_buffer_head ! = block_buffer_tail ) ; }
{
if ( block_buffer_head ! = block_buffer_tail ) { // Called when the current block is no longer needed. Discards
block_buffer_tail = ( block_buffer_tail + 1 ) & ( BLOCK_BUFFER_SIZE - 1 ) ; // 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
// Gets the current block. Returns NULL if buffer empty
FORCE_INLINE block_t * plan_get_current_block ( ) FORCE_INLINE block_t * plan_get_current_block ( ) {
{ if ( blocks_queued ( ) ) {
if ( block_buffer_head = = block_buffer_tail ) { block_t * block = & block_buffer [ block_buffer_tail ] ;
return ( NULL ) ; block - > busy = true ;
return block ;
} }
block_t * block = & block_buffer [ block_buffer_tail ] ; else
block - > busy = true ; return NULL ;
return ( block ) ;
} }
// Returns true if the buffer has a queued block, false otherwise
FORCE_INLINE bool blocks_queued ( ) { return ( block_buffer_head ! = block_buffer_tail ) ; }
# ifdef PREVENT_DANGEROUS_EXTRUDE # ifdef PREVENT_DANGEROUS_EXTRUDE
void set_extrude_min_temp ( float temp ) ; void set_extrude_min_temp ( float temp ) ;
# endif # endif
void reset_acceleration_rates ( ) ; void reset_acceleration_rates ( ) ;
# endif
# endif //PLANNER_H
Scott Lahteine
9 years ago