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-
-
-
- #ifndef PLANNER_H
- #define PLANNER_H
-
- #include "types.h"
- #include "enum.h"
- #include "MarlinConfig.h"
-
- #if HAS_ABL
- #include "vector_3.h"
- #endif
-
- class Planner;
- extern Planner planner;
-
-
- typedef struct {
-
- unsigned char active_extruder;
-
-
- long steps[NUM_AXIS];
- unsigned long step_event_count;
-
- #if ENABLED(MIXING_EXTRUDER)
- unsigned long mix_event_count[MIXING_STEPPERS];
- #endif
-
- long accelerate_until,
- decelerate_after,
- acceleration_rate;
-
- unsigned char direction_bits;
-
-
- #if ENABLED(LIN_ADVANCE)
- bool use_advance_lead;
- int e_speed_multiplier8;
- #elif ENABLED(ADVANCE)
- long advance_rate;
- volatile long initial_advance;
- volatile long final_advance;
- float advance;
- #endif
-
-
- float nominal_speed,
- entry_speed,
- max_entry_speed,
- millimeters,
- acceleration;
- unsigned char recalculate_flag,
- nominal_length_flag;
-
-
- unsigned long nominal_rate,
- initial_rate,
- final_rate,
- acceleration_steps_per_s2;
-
- #if FAN_COUNT > 0
- unsigned long fan_speed[FAN_COUNT];
- #endif
-
- #if ENABLED(BARICUDA)
- unsigned long valve_pressure, e_to_p_pressure;
- #endif
-
- volatile char busy;
-
- } block_t;
-
- #define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
-
- class Planner {
-
- public:
-
-
-
- static block_t block_buffer[BLOCK_BUFFER_SIZE];
- static volatile uint8_t block_buffer_head;
- static volatile uint8_t block_buffer_tail;
-
- static float max_feedrate_mm_s[NUM_AXIS];
- static float axis_steps_per_mm[NUM_AXIS];
- static float steps_to_mm[NUM_AXIS];
- static unsigned long max_acceleration_steps_per_s2[NUM_AXIS];
- static unsigned long max_acceleration_mm_per_s2[NUM_AXIS];
-
- static millis_t min_segment_time;
- static float min_feedrate_mm_s;
- static float acceleration;
- static float retract_acceleration;
- static float travel_acceleration;
- static float max_jerk[XYZE];
- static float min_travel_feedrate_mm_s;
-
- #if HAS_ABL
- static bool abl_enabled;
- static matrix_3x3 bed_level_matrix;
- #endif
-
- private:
-
-
-
- static long position[NUM_AXIS];
-
-
-
- static float previous_speed[NUM_AXIS];
-
-
-
- static float previous_nominal_speed;
-
- #if ENABLED(DISABLE_INACTIVE_EXTRUDER)
-
-
- static uint8_t g_uc_extruder_last_move[EXTRUDERS];
- #endif
-
- #ifdef XY_FREQUENCY_LIMIT
-
- #define MAX_FREQ_TIME long(1000000.0/XY_FREQUENCY_LIMIT)
-
- static unsigned char old_direction_bits;
-
- static long axis_segment_time[2][3];
- #endif
-
- public:
-
-
-
-
- Planner();
-
- void init();
-
-
-
-
- static void reset_acceleration_rates();
- static void refresh_positioning();
-
-
- static void check_axes_activity();
-
-
-
- static uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }
-
- static bool is_full() { return (block_buffer_tail == BLOCK_MOD(block_buffer_head + 1)); }
-
- #if HAS_ABL || ENABLED(MESH_BED_LEVELING)
- #define ARG_X float lx
- #define ARG_Y float ly
- #define ARG_Z float lz
- #else
- #define ARG_X const float &lx
- #define ARG_Y const float &ly
- #define ARG_Z const float &lz
- #endif
-
- #if PLANNER_LEVELING
-
-
-
- static void apply_leveling(float &lx, float &ly, float &lz);
- static void unapply_leveling(float logical[XYZ]);
-
- #endif
-
-
-
- static void buffer_line(ARG_X, ARG_Y, ARG_Z, const float& e, float fr_mm_s, const uint8_t extruder);
-
-
-
- static void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float& e);
- static void set_position_mm(const AxisEnum axis, const float& v);
-
- static FORCE_INLINE void set_z_position_mm(const float& z) { set_position_mm(Z_AXIS, z); }
- static FORCE_INLINE void set_e_position_mm(const float& e) { set_position_mm(E_AXIS, e); }
-
-
-
- static void sync_from_steppers();
-
-
-
- static bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
-
-
-
- static void discard_current_block() {
- if (blocks_queued())
- block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
- }
-
-
-
- static block_t* get_current_block() {
- if (blocks_queued()) {
- block_t* block = &block_buffer[block_buffer_tail];
- block->busy = true;
- return block;
- }
- else
- return NULL;
- }
-
- #if ENABLED(AUTOTEMP)
- static float autotemp_max;
- static float autotemp_min;
- static float autotemp_factor;
- static bool autotemp_enabled;
- static void getHighESpeed();
- static void autotemp_M109();
- #endif
-
- private:
-
-
-
- static int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); }
- static int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); }
-
-
-
- static float estimate_acceleration_distance(float initial_rate, float target_rate, float accel) {
- if (accel == 0) return 0;
- return (sq(target_rate) - sq(initial_rate)) / (accel * 2);
- }
-
-
-
- static float intersection_distance(float initial_rate, float final_rate, float accel, float distance) {
- if (accel == 0) return 0;
- return (accel * 2 * distance - sq(initial_rate) + sq(final_rate)) / (accel * 4);
- }
-
-
-
- static float max_allowable_speed(float accel, float target_velocity, float distance) {
- return sqrt(sq(target_velocity) - 2 * accel * distance);
- }
-
- static void calculate_trapezoid_for_block(block_t* block, float entry_factor, float exit_factor);
-
- static void reverse_pass_kernel(block_t* current, block_t* next);
- static void forward_pass_kernel(block_t* previous, block_t* current);
-
- static void reverse_pass();
- static void forward_pass();
-
- static void recalculate_trapezoids();
-
- static void recalculate();
-
- };
-
- #endif
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