planner.h 5.8 KB

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