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comparison: planner.h

planner.h

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1 /*
2 planner.h - buffers movement commands and manages the acceleration profile plan
3 Part of Grbl
4
5 Copyright (c) 2009-2011 Simen Svale Skogsrud
6
7 Grbl is free software: you can redistribute it and/or modify
8 it under the terms of the GNU General Public License as published by
9 the Free Software Foundation, either version 3 of the License, or
10 (at your option) any later version.
11
12 Grbl is distributed in the hope that it will be useful,
13 but WITHOUT ANY WARRANTY; without even the implied warranty of
14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15 GNU General Public License for more details.
16
17 You should have received a copy of the GNU General Public License
18 along with Grbl. If not, see <http://www.gnu.org/licenses/>.
19 */
20
21 // This module is to be considered a sub-module of stepper.c. Please don't include
22 // this file from any other module.
23
24 #ifndef planner_h
25 #define planner_h
26
27 #include "Marlin.h"
28
29 // This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
30 // the source g-code and may never actually be reached if acceleration management is active.
31 typedef struct {
32 // Fields used by the bresenham algorithm for tracing the line
33 long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
34 unsigned long step_event_count; // The number of step events required to complete this block
35 long accelerate_until; // The index of the step event on which to stop acceleration
36 long decelerate_after; // The index of the step event on which to start decelerating
37 long acceleration_rate; // The acceleration rate used for acceleration calculation
38 unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
39 unsigned char active_extruder; // Selects the active extruder
40 #ifdef ADVANCE
41 long advance_rate;
42 volatile long initial_advance;
43 volatile long final_advance;
44 float advance;
45 #endif
46
47 // Fields used by the motion planner to manage acceleration
48 // float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis
49 float nominal_speed; // The nominal speed for this block in mm/sec
50 float entry_speed; // Entry speed at previous-current junction in mm/sec
51 float max_entry_speed; // Maximum allowable junction entry speed in mm/sec
52 float millimeters; // The total travel of this block in mm
53 float acceleration; // acceleration mm/sec^2
54 unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
55 unsigned char nominal_length_flag; // Planner flag for nominal speed always reached
56
57 // Settings for the trapezoid generator
58 unsigned long nominal_rate; // The nominal step rate for this block in step_events/sec
59 unsigned long initial_rate; // The jerk-adjusted step rate at start of block
60 unsigned long final_rate; // The minimal rate at exit
61 unsigned long acceleration_st; // acceleration steps/sec^2
62 unsigned long fan_speed;
63 volatile char busy;
64 } block_t;
65
66 // Initialize the motion plan subsystem
67 void plan_init();
68
69 // Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
70 // millimaters. Feed rate specifies the speed of the motion.
71 void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
72
73 // Set position. Used for G92 instructions.
74 void plan_set_position(const float &x, const float &y, const float &z, const float &e);
75 void plan_set_e_position(const float &e);
76
77
78
79 void check_axes_activity();
80 uint8_t movesplanned(); //return the nr of buffered moves
81
82 extern unsigned long minsegmenttime;
83 extern float max_feedrate[4]; // set the max speeds
84 extern float axis_steps_per_unit[4];
85 extern unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
86 extern float minimumfeedrate;
87 extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
88 extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
89 extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
90 extern float max_z_jerk;
91 extern float max_e_jerk;
92 extern float mintravelfeedrate;
93 extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
94
95 #ifdef AUTOTEMP
96 extern bool autotemp_enabled;
97 extern float autotemp_max;
98 extern float autotemp_min;
99 extern float autotemp_factor;
100 #endif
101
102
103
104
105 extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
106 extern volatile unsigned char block_buffer_head; // Index of the next block to be pushed
107 extern volatile unsigned char block_buffer_tail;
108 // Called when the current block is no longer needed. Discards the block and makes the memory
109 // availible for new blocks.
110 FORCE_INLINE void plan_discard_current_block()
111 {
112 if (block_buffer_head != block_buffer_tail) {
113 block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);
114 }
115 }
116
117 // Gets the current block. Returns NULL if buffer empty
118 FORCE_INLINE block_t *plan_get_current_block()
119 {
120 if (block_buffer_head == block_buffer_tail) {
121 return(NULL);
122 }
123 block_t *block = &block_buffer[block_buffer_tail];
124 block->busy = true;
125 return(block);
126 }
127
128 // Gets the current block. Returns NULL if buffer empty
129 FORCE_INLINE bool blocks_queued()
130 {
131 if (block_buffer_head == block_buffer_tail) {
132 return false;
133 }
134 else
135 return true;
136 }
137
138 void allow_cold_extrudes(bool allow);
139 #endif

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