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@ -21,20 +21,16 @@ |
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// This module is to be considered a sub-module of stepper.c. Please don't include
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// this file from any other module.
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#ifndef planner_h |
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#define planner_h |
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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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#ifdef ENABLE_AUTO_BED_LEVELING |
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#include "vector_3.h" |
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#endif // ENABLE_AUTO_BED_LEVELING
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// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
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// the source g-code and may never actually be reached if acceleration management is active.
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typedef struct { |
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// Fields used by the bresenham algorithm for tracing the line
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long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
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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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long decelerate_after; // The index of the step event on which to start decelerating
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@ -49,7 +45,7 @@ typedef struct { |
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#endif |
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// Fields used by the motion planner to manage acceleration
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// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis
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// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis
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float nominal_speed; // The nominal speed for this block in mm/sec
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float entry_speed; // Entry speed at previous-current junction in mm/sec
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float max_entry_speed; // Maximum allowable junction entry speed in mm/sec
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@ -65,49 +61,44 @@ typedef struct { |
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unsigned long acceleration_st; // acceleration steps/sec^2
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unsigned long fan_speed; |
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#ifdef BARICUDA |
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unsigned long valve_pressure; |
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unsigned long e_to_p_pressure; |
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unsigned long valve_pressure; |
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unsigned long 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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#ifdef ENABLE_AUTO_BED_LEVELING |
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// this holds the required transform to compensate for bed level
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extern matrix_3x3 plan_bed_level_matrix; |
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#endif // #ifdef ENABLE_AUTO_BED_LEVELING
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#define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1)) |
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// Initialize the motion plan subsystem
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void plan_init(); |
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// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
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// millimaters. Feed rate specifies the speed of the motion.
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void check_axes_activity(); |
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#if defined(ENABLE_AUTO_BED_LEVELING) || defined(MESH_BED_LEVELING) |
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void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder); |
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#if defined(ENABLE_AUTO_BED_LEVELING) |
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#ifndef DELTA |
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// Get the position applying the bed level matrix if enabled
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vector_3 plan_get_position(); |
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#endif |
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#endif // ENABLE_AUTO_BED_LEVELING
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#else |
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void plan_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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#endif // ENABLE_AUTO_BED_LEVELING || MESH_BED_LEVELING
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// Get the number of buffered moves
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extern volatile unsigned char block_buffer_head; |
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extern volatile unsigned char block_buffer_tail; |
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FORCE_INLINE uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); } |
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// Set position. Used for G92 instructions.
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#if defined(ENABLE_AUTO_BED_LEVELING) || defined(MESH_BED_LEVELING) |
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void plan_set_position(float x, float y, float z, const float &e); |
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#if defined(ENABLE_AUTO_BED_LEVELING) |
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#include "vector_3.h" |
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// this holds the required transform to compensate for bed level
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extern matrix_3x3 plan_bed_level_matrix; |
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// Get the position applying the bed level matrix if enabled
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vector_3 plan_get_position(); |
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#endif // ENABLE_AUTO_BED_LEVELING
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// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
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// millimeters. Feed rate specifies the speed of the motion.
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void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder); |
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// Set position. Used for G92 instructions.
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void plan_set_position(float x, float y, float z, const float &e); |
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#else |
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void plan_set_position(const float &x, const float &y, const float &z, const float &e); |
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void plan_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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void plan_set_position(const float &x, const float &y, const float &z, const float &e); |
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#endif // ENABLE_AUTO_BED_LEVELING || MESH_BED_LEVELING
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void plan_set_e_position(const float &e); |
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void check_axes_activity(); |
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uint8_t movesplanned(); //return the nr of buffered moves
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extern unsigned long minsegmenttime; |
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extern float max_feedrate[NUM_AXIS]; // set the max speeds
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extern float axis_steps_per_unit[NUM_AXIS]; |
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@ -123,44 +114,41 @@ extern float mintravelfeedrate; |
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extern unsigned long axis_steps_per_sqr_second[NUM_AXIS]; |
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#ifdef AUTOTEMP |
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extern bool autotemp_enabled; |
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extern float autotemp_max; |
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extern float autotemp_min; |
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extern float autotemp_factor; |
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extern bool autotemp_enabled; |
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extern float autotemp_max; |
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extern float autotemp_min; |
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extern float autotemp_factor; |
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#endif |
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extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
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extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
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extern volatile unsigned char block_buffer_head; // Index of the next block to be pushed
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extern volatile unsigned char block_buffer_tail; |
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// Called when the current block is no longer needed. Discards the block and makes the memory
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// availible for new blocks.
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FORCE_INLINE void plan_discard_current_block() |
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{ |
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if (block_buffer_head != block_buffer_tail) { |
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block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1); |
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} |
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// Returns true if the buffer has a queued block, false otherwise
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FORCE_INLINE bool blocks_queued() { return (block_buffer_head != block_buffer_tail); } |
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// Called when the current block is no longer needed. Discards
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// the block and makes the memory available for new blocks.
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FORCE_INLINE void plan_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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// Gets the current block. Returns NULL if buffer empty
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FORCE_INLINE block_t *plan_get_current_block() |
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{ |
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if (block_buffer_head == block_buffer_tail) { |
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return(NULL); |
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FORCE_INLINE block_t *plan_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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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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else |
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return NULL; |
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} |
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// Returns true if the buffer has a queued block, false otherwise
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FORCE_INLINE bool blocks_queued() { return (block_buffer_head != block_buffer_tail); } |
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#ifdef PREVENT_DANGEROUS_EXTRUDE |
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void set_extrude_min_temp(float temp); |
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void set_extrude_min_temp(float temp); |
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#endif |
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void reset_acceleration_rates(); |
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#endif |
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#endif //PLANNER_H
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Scott Lahteine
10 years ago