My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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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 "Configuration.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. long step_event_count; // The number of step events required to complete this block
  27. volatile long accelerate_until; // The index of the step event on which to stop acceleration
  28. volatile long decelerate_after; // The index of the step event on which to start decelerating
  29. volatile 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. #ifdef ADVANCE
  32. long advance_rate;
  33. volatile long initial_advance;
  34. volatile long final_advance;
  35. float advance;
  36. #endif
  37. // Fields used by the motion planner to manage acceleration
  38. float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
  39. float nominal_speed; // The nominal speed for this block in mm/min
  40. float millimeters; // The total travel of this block in mm
  41. float entry_speed;
  42. float acceleration; // acceleration mm/sec^2
  43. // Settings for the trapezoid generator
  44. long nominal_rate; // The nominal step rate for this block in step_events/sec
  45. volatile long initial_rate; // The jerk-adjusted step rate at start of block
  46. volatile long final_rate; // The minimal rate at exit
  47. long acceleration_st; // acceleration steps/sec^2
  48. volatile char busy;
  49. } block_t;
  50. // Initialize the motion plan subsystem
  51. void plan_init();
  52. // Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
  53. // millimaters. Feed rate specifies the speed of the motion.
  54. void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate);
  55. // Set position. Used for G92 instructions.
  56. void plan_set_position(const float &x, const float &y, const float &z, const float &e);
  57. // Called when the current block is no longer needed. Discards the block and makes the memory
  58. // availible for new blocks.
  59. void plan_discard_current_block();
  60. // Gets the current block. Returns NULL if buffer empty
  61. block_t *plan_get_current_block();
  62. void check_axes_activity();
  63. extern unsigned long minsegmenttime;
  64. extern float max_feedrate[4]; // set the max speeds
  65. extern float axis_steps_per_unit[4];
  66. extern long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
  67. extern float minimumfeedrate;
  68. extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
  69. extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
  70. extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
  71. extern float max_z_jerk;
  72. extern float mintravelfeedrate;
  73. extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
  74. #endif